How Calculate Parallelogram reach

Lin

How to caluclate the parallelogram reach of the particular robot?

I want to check the parallelogram reach of the robot before my program starts.

Actually i am calculating the targets, and i want to check the calculated targets are with in my robot parallelogram.

Please guide me. Thank you.

Lin

Hello guys,

I am calculating the robot targets for robot execution. The targets will be incremented each time.

I want to check whether the calculated targets are with in the robot working area or not.
If not, my program has to give a error signal.

The program should not give error message after the execution has started.It should give before the execution starts.

This can be done or not. Is there any solution please guide me.

Rulv

Try to convert the robtarget to a jointtarget with the instruction CalcJointT. If the position is unreachable a error (ERR_ROBLIMIT) will occur.
 


att

Lin

Thanks for your reply.It also tried somewhat using CalcJointT function.
Thank you very much.

Lin

I have done the coding. It is working perfectly.