Joint Limits / Position Out of Reach

c63amg

Hello,

I am getting a "position out of reach" error during simulation.

I can view the robot at all of the surrounding targets, which is leading me to believe something during the translation between points is wrong.

What are the rules about the joint limits?  4/6 cant be more than 360, etc.

When watching my Mechanism Joint Jog window I do not know what to look for. 

graemepaulin

It is probably the stored robot configuration that is the issue.

You can use auto configure (right click the path in the home tab, select configurations and then auto configuration). You may need to run this a cfew times to get the robot to run through without error -> changing the configuration of the first robtarget each time.

The other solution is to ignore the stored robot configuration (use ConfL and/or ConfJ  RAPID commands) the motion control will move the robot joints the least amount possible when going from target to target.

You can still run out of reach with this method if the robot keeps turning an axis in one direction - then you have to use the configurations to control the motion.

c63amg

graemepaulin said:

It is probably the stored robot configuration that is the issue.

You can use auto configure (right click the path in the home tab, select configurations and then auto configuration). You may need to run this a cfew times to get the robot to run through without error -> changing the configuration of the first robtarget each time.

The other solution is to ignore the stored robot configuration (use ConfL and/or ConfJ  RAPID commands) the motion control will move the robot joints the least amount possible when going from target to target.

You can still run out of reach with this method if the robot keeps turning an axis in one direction - then you have to use the configurations to control the motion.

I auto configured the section, then sync'd to rapid, and it worked.

I guess I never realized you have to sync after and auto-configure.  I should have.

thanks for the post, you saved me some stress.

c63amg

graemepaulin said:

You can use auto configure (right click the path in the home tab, select configurations and then auto configuration). You may need to run this a cfew times to get the robot to run through without error -> changing the configuration of the first robtarget each time.

I ran into another section that had a position out of reach.

I tried each auto-configuration method, and the simulation still failed. 

So I went in and changed the RAPID code directly for the problem targets, then the simulation worked.   

When you use auto-configure then sync to rapid, does it not edit the configuration in the RAPID?

graemepaulin

I have had issues in the past were it seemed the Robtarget were not updating in the Virtual Controller. My solution was to delete the robtargets definition (at the start of the module normally) in the Virtual Controller RAPID code and then sync from the station again.