Position validation

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1

I have a need to calculate potential positions offline and then validate them once I get online.

What is the best way to check if a given Cartesian position is reachable once connected to a live robot?

2

Hi,

I have made following RAPID function for that

FUNC bool IsReachable(robtarget pReach, PERS tooldata ToolReach, PERS wobjdata WobjReach)
VAR bool bReachable;
VAR jointtarget jntReach;

bReachable := TRUE;

jntReach := CalcJointT(pReach, ToolReachWobj:=WobjReach);

RETURN bReachable;

ERROR
IF ERRNO = ERR_ROBLIMIT THEN
bReachable := FALSE;
TRYNEXT;
ENDIF
ENDFUNC

Regards,
Mika

3

Thank you for the code.

4

hey,

I am trying to use the similar code
but my program goes to the error routine but it does return to the end of the procedure,
but i have specified TRYNEXT;

Any suggestions