# Checking reachability on the fly

**URL:** <https://tech-community.robotics.abb.com/t/checking-reachability-on-the-fly/2454>\
**Category:** Robot Controller\
**Created:** [January 25, 2009, 10:36am UTC](https://tech-community.robotics.abb.com/t/checking-reachability-on-the-fly/2454 "2009-01-25T10:36:49Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![avitalb](https://avatars.discourse-cdn.com/v4/letter/a/f05b48/32.png) [@avitalb](https://tech-community.robotics.abb.com/u/avitalb)\
**Post date:** [January 25, 2009, 10:36am UTC](https://tech-community.robotics.abb.com/t/checking-reachability-on-the-fly/2454/1 "2009-01-25T10:36:49Z")

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Initially I thought, intuitively that I could handle a “out of reach” event and correct my path generation after such an event in error handler. It turns out that this is an error of type “System Error”, and supposedly these cannot be handled by Rapid routines/procedures. I’d love to be corrected about this.

At any rate I still need to handle the event where the Robot may move out of reach because of an invalid/unreachable Robtarget that I have created. Is there a way to check for reachablity on a given Robtarget before executing a move instruction on it?