[TaigoVan]

你好!

Here's a question about the execution of the RoboDK motion program.

When the robot's target point is not reached or there is a collision in the middle, the program will simply report an error or interrupt. I would like to know how to achieve this so that whenever the above happens, the robot reports an error and continues to execute the command to determine the next target point. Or the robot can return to the "HOME" point in the collision state and continue with the next motion command. What happens now is that whenever an error occurs, I have to reset the robot and execute the next piece of code manually.

Thank you in advance

范

[Jeremy]

Do you mean through the UI or through the API (Python or other).

It's not possible with the UI.

You can simply use "MoveL_Test" and "MoveJ_Test" with the API.
Here's a link to the documentation.
//www.sinclairbody.com/doc/en/PythonAPI/robo...MoveL_Test

Jeremy

[TaigoVan]

Hallo Jeremy,

Thx for your answer,

I had considered using the "MoveJ_Test" command in the Python API from the beginning. But I didn't know the joint values for the robot to reach these targets (J2).

My mission was to generate target points in the simulation with known coordinates, and if I could quickly learn the relationship between the robot and these target points: Is it reachable? Will there be a collision in the process? Or not reachable at all? At the moment I can't find suitable code to simply build a loop that allows the program to output the results for all points directly. And it's just not practical to count them one by one through the UI.

Could u give me some advice?

范

[Jeremy]

Hi Van,

Using the function "SolveIK" will give you the set of joints you are looking for.
//www.sinclairbody.com/doc/en/PythonAPI/robo...em.SolveIK

I think this example could be useful://www.sinclairbody.com/doc/en/PythonAPI/exam...easibility

Jeremy

[TaigoVan]

Great, this example has helped me a lot, thanks a lot!