# CalcJointT CalcRobT

**URL:** <https://tech-community.robotics.abb.com/t/calcjointt-calcrobt/4846>\
**Category:** Developer Tools\
**Created:** [May 7, 2012, 7:44am UTC](https://tech-community.robotics.abb.com/t/calcjointt-calcrobt/4846 "2012-05-07T07:44:59Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![avicohen](https://avatars.discourse-cdn.com/v4/letter/a/e56c9b/32.png) [@avicohen](https://tech-community.robotics.abb.com/u/avicohen)\
**Post date:** [May 7, 2012, 7:44am UTC](https://tech-community.robotics.abb.com/t/calcjointt-calcrobt/4846/1 "2012-05-07T07:44:59Z")

</div>

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 ?