Position validation
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I have a need to calculate potential positions offline and then validate them once I get online.
What is the best way to check if a given Cartesian position is reachable once connected to a live robot?
What is the best way to check if a given Cartesian position is reachable once connected to a live robot?
zev
0
Comments
-
Hi,I have made following RAPID function for thatFUNC bool IsReachable(robtarget pReach, PERS tooldata ToolReach, PERS wobjdata WobjReach)
VAR bool bReachable;
VAR jointtarget jntReach;
bReachable := TRUE;
jntReach := CalcJointT(pReach, ToolReachWobj:=WobjReach);
RETURN bReachable;
ERROR
IF ERRNO = ERR_ROBLIMIT THEN
bReachable := FALSE;
TRYNEXT;
ENDIF
ENDFUNCRegards,Mika0 -
Thank you for the code.
zev0 -
hey,I am trying to use the similar codebut my program goes to the error routine but it does return to the end of the procedure,but i have specified TRYNEXT;Any suggestions0
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