CalcJoinT in RW 5.16 Error Handling when arm doesn't reach

RAPID Programming
,
1

Hi, I’m using an IR120 with an IRC5 controller which as far as I am aware only supports robotware upto version 5.16.

My issue comes when using the function CalcJoinT on a position that is outside the robot’s reach. I do not have the option to catch ERR_OUTSIDE_REACH as I think it was not implemented in this version.

I only have available ERR_ROBLIMIT which I am catching and allows the program to keep going.

Is there a way around this in version 5.16?

BR.

Rodrigo

2

HI RAH101,

I’m not sure about robotware versions on the IR120, but in regards to CalcJointT.
Does it show up as an error when you calculate a position that is out of reach? Surely if the program stops it has an error you can see?

If not I can suggest a workaround.

Regards,

Harry

3

Hi Harry,

First of all, thanks for your answer.

When asking for the arm to move to an unreachable position on the flexpendant I get:

Event Message 40625
Limit Error
Description
Task: R_ROB1
Program reference path

Probable causes

The reason for the error is obvious, I just need to catch it so I can keep the program running

4

Hi RAH101,

Does the error show up when you execute CalcJointT? Or when you execute a MoveAbsJ?
In any case you should be able to catch the error by extracting the errdomain and errorID with a TRAP routine that triggers on all errors, and then check the domain and ID in your error handler to catch when a limit error occurs:

MODULE MainModule

	VAR intnum err_interrupt;
	VAR errdomain err_domain;
	VAR num err_number;
	VAR errtype err_type;
	VAR trapdata err_data;

	PROC Main()
		
		CONNECT err_interrupt WITH trap_err;
		IError COMMON_ERR, TYPE_ERR, err_interrupt;

		! do stuff
		
	ERROR
		! Check the domain and error number
		IF err_domain = 4 AND errno = 625 THEN
			! Limit error recovery
		ENDIF
	ENDPROC
	
	! Trap routine to catch all errors and extract information
	TRAP trap_err
		GetTrapData err_data;
		ReadErrData err_data, err_domain, err_number, err_type;
	ENDTRAP
	
ENDMODULE

Good Luck,

Harry

5

Hi Harry,Thanks again for the answer, my error is in the instruction: joints_setpoint:=CalcJointT(Inverse_Setpoint,tool0\WObj:=wobj0\ErrorNumber:=myerrnum);

I didn’t manage to adapt your code to to my RAPID program. I solved it just by sending a UImsgBox in the error routine

I believe your code is missing the idelete before the connect aswell