problems with reltool...

filterheadz

hi people.

I made the following program...

 

MODULE TESTE
  VAR robtarget p10;
  VAR num AngleZ;

  PROC main()
    p10:=[[863.28,-0.43,1370.4],[0.048771,0.000397,0.99881,-0.000257],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    MoveJ p10,v500,z50,tool0;
    anglez:=0;
  Begin:
    waittime 0.5;
    AngleZ:=angleZ+10;   
    MoveJ RelTool(p10,0,0,0Rz:=AngleZ),v500,z50,tool0;
    GOTO Begin;
  ENDPROC

 

however, when angleZ is greater of 120? i have got a following error

The desired position cannot be reached with the given robot configuration.

How can i resolve my problem to make a rotation of 360 without change the position of the robot in the program?

Sorry about my english...

 

 

PerSvensson

Hi
Turn off Configuration check
ConfJ /Off

filterheadz

Thanks PerSvensson...

vanicelio

companheiros estou precisando gera minha licen?a da minha abb serial 60123 aguardo respostas ok

PerSvensson

Your welcome
Be aware of that if you turn of configuration the robot always take the closest way (axis 1,4,6,) and in some cases you may not want that to happen. So be carefull when you run with configuration off.

Take a look in the manuals around configuration, good to know how this works and if you are working in RobotStudio it's even more important at least if you are creating target out of a geometry.

But of course in RobotStudio you can play around without messing up the real hardware .