MOTN-017. How to check interaction limit errors

    Hi all,


    I am doing remote control of FANUC with automatic path planning at external computer. And I have problem with:

    Quote

    MOTN-017. Limit error (G:1, A2,3,4)


    It is not usual limit error. Robot isn't outside limits. It is interaction limit error (FANUC collision checking). Where can I get formulas for checking these interaction limits? I need to check them in my program at my external computer because I should send to robot only valid points.


    Now I have only normal limit checking and CAD collision checking in my program. Of course I can make padded CAD models but it is better to use formulas equal to code from FANUC controller.

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