# Problem with CalcJointT

**URL:** <https://tech-community.robotics.abb.com/t/problem-with-calcjointt/10549>\
**Category:** RAPID Programming\
**Tags:** calcjointt, error-handling\
**Created:** [January 26, 2022, 5:49am UTC](https://tech-community.robotics.abb.com/t/problem-with-calcjointt/10549 "2022-01-26T05:49:54Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![AuxiliumD](https://avatars.discourse-cdn.com/v4/letter/a/b19c9b/32.png) [@AuxiliumD](https://tech-community.robotics.abb.com/u/AuxiliumD)\
**Post date:** [January 26, 2022, 5:49am UTC](https://tech-community.robotics.abb.com/t/problem-with-calcjointt/10549/1 "2022-01-26T05:49:54Z")

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Hi,

I am not sure if this is a bug, but when I use CalcJointT to check if a target is unreachable, it doesn’t continue in the error handler, but gets stuck on that row indefinitely.  
This is the only row that is not working

jntReach := CalcJointT(testPos, TestTool\Wobj:=TestwObj);

If I am correct this should be catched by

ERROR  
IF ERRNO = ERR\_ROBLIMIT THEN  
bReachable := FALSE;  
TRYNEXT;  
ENDIF

However the execution arrow just stops at → jntReach and does not proceed further. The RapidWindow also gets unlocked as if there is an error.

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<div class="post-metadata">

**Author:** ![Bulli](https://avatars.discourse-cdn.com/v4/letter/b/c68b51/32.png) [@Bulli](https://tech-community.robotics.abb.com/u/Bulli)\
**Post date:** [January 27, 2022, 8:40am UTC](https://tech-community.robotics.abb.com/t/problem-with-calcjointt/10549/2 "2022-01-27T08:40:03Z")

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Hi AuxiliumD,

CalcJointT has also “ERR\_OUTSIDE\_REACH” as error handler.  
It should work when you handle with both errors.