Position validation

zevh

I have a need to calculate potential positions offline and then validate them once I get online.

What is the best way to check if a given Cartesian position is reachable once connected to a live robot?

msalminen

Hi,

 

I have made following RAPID function for that

 

 FUNC bool IsReachable(robtarget pReach, PERS tooldata ToolReach, PERS wobjdata WobjReach)
  VAR bool bReachable;
  VAR jointtarget jntReach;
  
  bReachable := TRUE;
  
  jntReach := CalcJointT(pReach, ToolReachWobj:=WobjReach);
  
  RETURN bReachable;
  
 ERROR
  IF ERRNO = ERR_ROBLIMIT THEN
   bReachable := FALSE;
   TRYNEXT;
  ENDIF
 ENDFUNC

Regards,

Mika

zevh

Thank you for the code.

fenny

hey,

I am trying to use  the similar code

but my program goes to the error routine but it does return to the end of the procedure,

but i have specified TRYNEXT;

Any suggestions