got alarm code 4980, DESTINATION PULSE LIMIT, with T highlighted (axis T hardly moves). manual just says to "check position". to me this sounds like Status and Turn situation on KUKA but don't yet know how the Motoman flags are used or how to manipulate them.
basically I created dummy program with handful of MOVJ and MOVL that stores current position after each motion (copied from $PX001). then i wanted to go through all recorded positions using only MOVJ. it worked for some motions but not all.
so the questions are
Q11. how to check if the position is reachable before issuing motion command?
Q12. is there a Try Catch or ON_ERROR_RESUME equivalent in Inform?
Q13. how are the flip bits manipulated in Inform? What is the syntax? (I am guessing SETE is used)
Q14. what is the order of rotations that Motoman uses? In KUKA it is first about Z, then about Y and finally about X.
Q15. is there a way to read/write variables from external application? (like with KukaVarProxy or C3Bridge)