MC-Basic:isJointReachable

Language:	English

Check if given point (joint) can be reached by the robot. Checks joint and cartesian limits. Input parameters:

<Robot> = name of the group for which the direct kinematics is computed, when a WITH command is executed, this argument is not needed (the comma can also be omitted).

<joint> = joint coordinates of the point to be translated into Cartesian coordinates. The type of the joint variable must be compatible with the robot type.

User:                    Application developer

Return value:      Long (0 - OK)

Syntax

<long>=isJointReachable(<Robot>, <joint>)

Availability

Since Version 3.7.x

Type

Long

0 - Ok

Scope

Task,Terminal

Limitations

Not in Configuration context

The location variable and the joint parameter must have a group type identical to the group parameter, or have the same number of coordinates.

Errors:                 N/A

Examples

? isJointReachable(G1, {1,2,3})

? isJointReachable(G1, G1.Pfb)

L1 = isJointReachable(SCARA, J1)

See Also

• TOJOINT
• isLocationReachable