TAST issue - Getting limit error on the line after TOUCH OFFSET

    Guys - I was trying TAST on my robot

    The program is running fine till line no 20

    Whenever it executes line 21 - TOUCH OFFSET PR 3

    It throws an LIMIT ERROR on next line 22

    My Point 18 P18 on line 22 is perfectly reachable - No axis is at its extreme , so i don't know why i am getting limit error. WHENEVER I skip line 21 and directly run line no. 22 , it goes to P18 without error.

    I am assuming that TOUCH OFFSET PR 3 is doing something to cause this issue.

    Any suggestion on what i am doing wrong....


    i am new to TAST and i just copied this program from the Fanuc manual

    As per the instruction in the manual , i think when we run Search on line 2 , it stores the value of that position and then offset it on line 21 .

    When you say whats inside it ? should i got to PR 3 and try to move robot to PR3 position to check where it goes? or how can know whats inside it?

    Just run your search program and hold it while moving on line 20, then go to you Position registers under DATA and look at the data stored in PR[3].

    Are you trying to use the simple search? If so, this might be an issue with running the search in the Z direction.

    The example in the R30ib manuals only includes a two direction search and the snippet below indicates how it is used.

    Edited once, last by Erik Olsen (September 10, 2020 at 6:56 PM).

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