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>)
Type
Long
0 - Ok
1,2,3 ... - which axis exceed position limt
Others - system error, basically there is no single axis that exceeds limit but the combination of segment length and input cartesian point does not have solution of Inverse Kinematics. Can be:
*121 - The target point is not reachable.
*119 - Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point.
*125 - Wrong point type.
more of them can be found in [Codes], just add to return value 3000 for motion and 13000 for robot errors
.
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)