MC-Basic:isJointReachable
| Language: | English |
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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.
Syntax
<long>=isJointReachable({<Robot>,} <joint>)
Type
Long
0 - Ok
1,2,3,4,... - index of axis that exceed position limits
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:
* 70 - Not calibrated/configured * 117 - Point too close. The target coordinates are too close to the robot's Cartesian space origin point.
* 119 - Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point.
* 121 - The target point is not reachable.
* 125 - Wrong point type.
* 104 - World Xmax exceeded
* 105 - World Xmin exceeded
* 106 - World Ymax exceeded
* 107 - World Ymin exceeded
* 108 - World Zmax exceeded
* 109 - World Zmin exceeded
* 142 - Work Piece Xmax exceeded
* 143 - Work Piece Xmin exceeded
* 144 - Work Piece Ymax exceeded
* 145 - Work Piece Ymin exceeded
* 146 - Work Piece Zmax exceeded
* 147 - Work Piece Zmin exceeded
* 148 - Machine Table Xmax exceeded
* 149 - Machine Table Xmin exceeded
* 150 - Machine Table Ymax exceeded
* 151 - Machine Table Ymin exceeded
* 152 - Machine Table Zmax exceeded
* 153 - Machine Table Zmin exceeded
* 154 - Base Xmax exceeded
* 155 - Base Xmin exceeded
* 156 - Base Ymax exceeded
* 157 - Base Ymin exceeded
* 158 - Base Zmax exceeded
* 159 - Base Zmin exceeded
* 160 - Tool Xmax exceeded
* 161 - Tool Xmin exceeded
* 162 - Tool Ymax exceeded
* 163 - Tool Ymin exceeded
* 164 - Tool Zmax exceeded
* 165 - Tool Zmin exceeded
more of them can be found in Error 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)