Our system is KRC4 8.5.7 HF1 and KR 90 R3100 extra HA.
In our application we should want in certain situations retract the tool a specified distance.
The problem is that the position where the motion would start is not a specified position, it depends on the workpiece we are working on.
I suppose I can use the 'Inverse()' function to get to know if the retracted position will be possible (no axis limits).
Just to be sure, does this function uses the actual axis limits of the robot that is used? Does it check the values in the machine data for software limits?
Inverse function
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Plc_User -
October 4, 2019 at 9:37 AM -
Thread is Unresolved
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Yes, it does:
As Status in "INVERSE (EndPOS, START_AXIS, STATUS)" will return a not-zero (I think -2 or maybe -3) if position is unreachable.
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Can't you just do a LIN_REL {X...Y...Z...} #TOOL?
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Correct,. Just enter distance in tool direction axis and of course watch for sign.
For example if tool direction is X, retracting would be:
LIN_REL {X -100} #TOOL