RobotStudio event

Error handling in RAPID

apox
apox ✭✭
in Robot Controller

Hi,

is there a way to catch errors e.g. position not reachable, singularity, and so on? Or maybe it is possible to check reachability of a given pose in RAPID directly?

Regards.



apox2011-03-10 16:05:36

Comments

  • Marcel
    Marcel ✭✭
    Hi apox
     

    If you use the function: CalcJointT the position will be checked for reachability and you will get the error: ERR_ROBLIMIT if the robtarget is out of reach. You can check this error in the error handler.

     

    Best regards

    Marcel

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