RobotStudio event

Problem with CalcJointT

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AuxiliumD
AuxiliumD ✭
in RAPID Programming
Hi,

I am not sure if this is a bug, but when I use CalcJointT to check if a target is unreachable,  it doesn't continue in the error handler, but gets stuck on that row indefinitely. 
This is the only row that is not working

jntReach := CalcJointT(testPos, TestTool\Wobj:=TestwObj);

If I am correct this should be catched by

ERROR
IF ERRNO = ERR_ROBLIMIT THEN
bReachable := FALSE;
TRYNEXT;
ENDIF

However the execution arrow just stops at -> jntReach and does not proceed further. The RapidWindow also gets unlocked as if there is an error.
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Answers

  • Bulli
    Bulli ✭
    Options
    Hi AuxiliumD,

    CalcJointT has also "ERR_OUTSIDE_REACH" as error handler. 
    It should work when you handle with both errors.



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