+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+ - - -论坛:通用RoboDK问题(//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK)
+--- Thread: Limiting robot workspace (/Thread-Limiting-robot-workspace)
Limiting robot workspace-Aala-08-23-2021
Hello,
I am working with a Fanuc Arc Mate 120iB robot. We have a customized tool that is a little big. when the tool position is in parallel with the axis 4 and the axis 5 rotates and gets close to its maximum angle of rotation, it collides with the robot body (As I mentioned it happens in some specific positions not always). If I limit the axis 5, the robot movement will be so conservative and it may lose a big part of its workspace that is not necessary. My question is that is there any way to modify the robot workspace to limit robot movement in some specific positions?
Thanks
RE: Limiting robot workspace-Jeremy-08-23-2021
You can use this function from the API:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.setJointLimits
Jeremy
RE: Limiting robot workspace-Aala-08-23-2021
(08-23-2021, 07:43 PM)Jeremy Wrote:You can use this function from the API:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.setJointLimits
Jeremy
Thank you, I will try that.