Is it posible to monitor and limit axis motion in runtime?

I want a behavior like the following in my program:
At any point in operation, if external axis 1 receives a command to rotate backward by greater than some amount (say 500 degrees), throw an error or perform an interrupt.

Is there a function that compares the previous robot target with the current target in the motion planner? Or a function that can monitor the joint deltas (p2-p1) calculated in runtime by the robot's inverse kinematic model?

I realize I could achieve this using some sort of work around like assigning robot targets to variables like pCurrentTarget and pToTarget and comparing those, but this is suboptimal.

Answers

  • EricH
    EricH Germany
    You can calculate the Joint Angles with CalcJointT and check if it is in reach, but you can also limit your axis for all movements in the motion configuration.
  • lemster68
    lemster68 United States ✭✭✭
    Why would it receive a "command" to move more than 500 degrees?  It will move to where you have it programmed in the robtarget.  Is there some external device passing targets to the robot?
    Lee Justice