Reachability - ROBLIMIT which actually shouldn't occur[MOVED]

Robot Controller
1

Hi, I’ve got a problem which, I don’t know why, occurs in my program really often and I have no idea how to get rid of it.

So, first of all I will Copy&Paste here a part of code where the error takes place:

PROC CheckRotation()
ConfJ \Off;
jRot := CalcJointT(Target_xyz, tool \WObj:=wobj0);
ERROR
IF ERRNO = ERR_ROBLIMIT THEN
statusAVAILABLE := FALSE;
data2ClientType := “ErrROT”;
RETURN;
ELSE
statusAVAILABLE := TRUE;
ENDIF
ENDPROC

This procedure should check if the position of the TCP is possible to reach by the robot - if not, the routine in the error handler is being executed. I have no idea why but, for instance, if I change the values of the Target_xyz to the default ones (these, which has the robot in the initial position) I’ve got an error. Maybe this happens because of the ConfJ function?

If somebody could help be I would be thankful, this is really annoying problem which stops me from continuing my work.

greetings,
pion3k

2

I couldn’t find how to edit my post so I decided to put a comment:

I think that the problem may be with the confdata. Actually, before the CalcJointT function, I’m changing the orientation of the TCP (Target_xyz) without modifying the confdata of the robtarget. If this is a source of my problem, how can I calculate the confdata? I know, that there could be plenty of solutions for reaching a target but, to be honest, I don’t care now about the specific one. More important for me is whether the robot can orient the TCP or not.

As I mentioned before, even for the initial position values (TCP system orientation) I’ve got an error ERR_ROBLIMIT.