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Position validation

zevh
zevh ✭
in Developer Tools
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?


zev

Comments

  • msalminen
    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
    zevh ✭
    Thank you for the code.

    zev
  • fenny
    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

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