Hi all,
Code
static final double[] fr1 = new double[] { 0, 0, 0, Math.toRadians(-90), 0, Math.toRadians(90), 0 };
static final Frame fr2 = new Frame(605, 0, 178.5, Math.toRadians(-180), 0, Math.toRadians(-180));
using the Frames above here are two simplified code examples.
While the first one is working, the second one stops with a Software Axis Limit Violation. Obviously fr2 is reachable from ptpHome when moving through fr1. I come across this problem fairly often and would like to know why the KUKA can't calculate a motion to that point from every other point.
Kind regards