how to handle err of joint out of range

RobotStudio
1

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 12”>< name=“Originator” =“Microsoft Word 12”> Dear All
I have a question. In RS simulation, is there any way to automatically handle and recover the err of joint out of range with either Rapid or RS API. We need to run our simulation smoothly without any human interference like manually jogging.

I program a trap function to monitor joints angle and set limits for them. If a joint is out of range, I use StopMove/quick function to stop robot. But simulated robot still keep going when reach limit.

Can you help me with this problem.

Thanks

Zack

2

r u only setting the limits for each angle?

What about ur targets, those are all taught by the user or u are calculating each time?

If you are calculating each time, then u can calculate the joint limits by using, CalcJointT function to get joint angles.