What is the definition of cfx in YuMi

Collaborative Robots
,
1

Hello,
I am working with the YuMi manipulator but It is not obvious when the cfx parameters chage in the robot studio. please give me the information

2

Hello,
YuMi is a 7 axis serial link robot.
Looking in RAPID Instruction, Functions and Data types (IRC5) help file at Data types - confdata:

7-axis serial link robots
All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6 respectively. cfx is used to select one of 8 possible robot configurations similar to how it works for other robots.

cfx
Axis 2 angle
Wrist center relative to lower arm
Axis 5 angle

0
Positive
In front of
Positive

1
Positive
In front of
Negative

2
Positive
Behind
Positive

3
Positive
Behind
Negative

4
Negative
In front of
Positive

5
Negative
In front of
Negative

6
Negative
Behind
Positive

7
Negative
Behind
Negative

3

Thank you for your response, Actually now I do not understand what does it mean wrist center relative to the lower arm. what is the exact definition of lower arm, and the wrist center point in YuMi.

4

Hello,
In RS, you can teach Target. Then in right click on it, you have a Configurations menu.

You have a list of possible configurations for teached position with a joint values for each.
It seems that you have to represent arm like if axis 1 is on floor axis X oriented on top.
So “In Front Of” is that TCP is upper than axis 2 line, and “Behind” is that TCP is lower.

5

Thank you for your kind response.
And do you know what is the definition of lower arm in YuMi. I have tried to understand it but it was not possible for me.

6

I think it is axis 2, the nearest (lower) to axis 1…