Hi,
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 ?