Error handling in RAPID

Robot Controller
1

Hi,

is there a way to catch errors e.g. position not reachable, singularity, and so on? Or maybe it is possible to check reachability of a given pose in RAPID directly?

Regards.

2

Hi apox

If you use the function: CalcJointT the position will be checked for reachability and you will get the error: ERR_ROBLIMIT if the robtarget is out of reach. You can check this error in the error handler.

Best regards
Marcel