# Can please help me for checking reachability

**URL:** <https://tech-community.robotics.abb.com/t/can-please-help-me-for-checking-reachability/2437>\
**Category:** RobotStudio\
**Created:** [January 16, 2009, 9:26pm UTC](https://tech-community.robotics.abb.com/t/can-please-help-me-for-checking-reachability/2437 "2009-01-16T21:26:26Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![system](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/system/32/6_2.png) [@system](https://tech-community.robotics.abb.com/u/system)\
**Post date:** [January 16, 2009, 9:26pm UTC](https://tech-community.robotics.abb.com/t/can-please-help-me-for-checking-reachability/2437/1 "2009-01-16T21:26:26Z")

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Hi helper,

I write a VSTA program to check reachability for each target. The code simply uses:  
ConfigurationData myConfs = station.ActiveTask.Mechanism.GetAllConfigurations(myRsTarget, station.ActiveTask.ActiveTool);  
However, I find some points, the program check it not reached, but with FlexPendant the robot can reach it. For example, using:  
IRB4450S\_30\_240\_\_01\_3,  
wobjdata wobj :=[FALSE,TRUE,“”,[[1598.51,-522.571,-1330.96],[0.705495248162474,-0.000363491127860333,0.000659955232143482,0.708714249294778]],[[-348.992,-354.103,748.479],[0.996532181020372,0,-0.0832082459302009,0]]];  
tooldata EOT:=[TRUE,[[-1.87471,2.58415,445.12],[0.999360237458758,-1.32423249768367E-05,3.43119764402598E-05,0.0357647093334071]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

The robot target is:  
robtarget p40:=[[48.58,0.10,0.74],[0.092295,-0.701056,0.701058,0.0922952],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

Can someone please can help me out what is going on here and how to check reachability automatically.

Thanks

Frank

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [January 23, 2009, 1:32pm UTC](https://tech-community.robotics.abb.com/t/can-please-help-me-for-checking-reachability/2437/2 "2009-01-23T13:32:56Z")

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Hi  
This must be a bugg.  
I ran a small program with configuration off and then the robot where able to go to the position. But there seams to be a small difference between the robot position and the target position in the graphics.

I guess you have to report this issue to ABB

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**Author:** ![system](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/system/32/6_2.png) [@system](https://tech-community.robotics.abb.com/u/system)\
**Post date:** [January 23, 2009, 2:38pm UTC](https://tech-community.robotics.abb.com/t/can-please-help-me-for-checking-reachability/2437/3 "2009-01-23T14:38:04Z")

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Thanks for reply, I have sent this to ABB Canada.

Frank