Joint 3 out of range

    Hello all,
    When I run a program like
    LMOVE pose
    x = 2
    a = 10
    tmove = 0
    FOR i = 1 TO x
    LMOVE TRANS(tmove*a,0)+pose
    tmove = tmove+1
    END
    It keeps telling me joint 3 is out of range. I couldn't figure out what the problem was. Hopefully you can help me.
    Thank you so much

    I'm only vaguely familiar with AS, but is your position calculation syntax correct? Should it not be pose+TRANS(blah blah)? I don't know for sure.

    Other than that: isn't your position calculation modifying the {X, Y, Z, O, A, T} values of the first point to be X = 0? Robot wont' be able to move to that point because it is internal to the robot structure (at the robot origin). Perhaps what you really want instead of a TRANS is a SHIFT calculation.

    If all you are trying to do using the SHIFT command would be much easier. Usually the TRANS command is used with the DECOMPOSE command.

    This should work to draw a straight line by 50 in the x direction:
    POINT pose=SHIFT(start BY 50)
    LMOVE start
    LMOVE pose

    This should work to draw a straight line by 50 in the y direction:
    POINT pose=SHIFT(start BY 0,50)
    LMOVE start
    LMOVE pose

    This should work to draw a straight line by 50 in the z direction:
    POINT pose=SHIFT(start BY 0,0,50)
    LMOVE start
    LMOVE pose

    Also what I meant by transformation values of "pose" is the the values stored into "pose". They would be the x,y,z,o,a,t values of pose. There are also joint displacement values they are the joint angles of jt1,jt2,jt3,jt4,jt5,jt6. These variables have a # in front of them an example would be "#pose".

    you could also use the TRANS command to shift in in tool coordinates, this might be easier as you can set the tool in every angle.

    To shift in tool x:
    POINT pose=start+trans(50)
    LMOVE start
    LMOVE pose

    To shift in tool y:
    POINT pose=start+trans(0,50)
    LMOVE start
    LMOVE pose

    To shift in tool z:
    POINT pose=start+trans(0,-50)
    LMOVE start
    LMOVE pose

    To shift in all tool directions for example:
    POINT pose=start+trans(-10,15,-55)
    LMOVE start
    LMOVE pose

    you could also use only one position for example
    LMOVE start
    LMOVE start+trans(-10,15,-55)

    You can also make frames and use the shift or trans function within this frame. But just read the manuals, a lot is explained in the AS manuals.

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