RobotStudio event

CalcJointT CalcRobT





Hi,<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />



 



I want to add some information to my
previous question.



I use the following code to convert
from Cartesian to Joint and from Joint to Cartesian



 



IF toJoint THEN



 TPWrite "Convert from cartesian to
Joint"
;



 jointValue := CalcJointT(cartesianValue, Cognitens_Cam
WObj:=wobjBMW);



ELSE



 TPWrite "Convert from Joint to
cartesian"
;



 cartesianValue := CalcRobT(jointValue, Cognitens_Cam
WObj:=wobjBMW);



ENDIF



 



 



What I find out is that: if I get from
robot his current Cartesian position, and try to convert it to joint I get error
(
ERR_ROBLIMIT)



If (for the same
current position) ask the robot his current position in joint values, and
convert it to
Cartesian
I succeed in conversion, and what interesting is that the result in Cartesian have
the exact same values which I got at the first place the same valuse that failed
to convert to Joints values (including the same configuration)..



Any one have the same problem ?  is there a workaround for that problem ?