KUKA Controller: KR C4
KSS: 8.6
Is there any way to programmatically detect that a (cartesian/CP) motion has failed due to soft limits? This is to program an auto recovery for such cases.
ON_ERROR_PROCEED is something I looked into but this seems to only cover cases where errors and interpreter stops are caused before the motion begins not during the motion itself.
The system you mentioned is used when programming the robots of automotive factories. All robots are even simulated. They decide whether the 4th axis will go from + position or - position. Possible collision points are being determined. If you look at it as RobCad, you will understand what I mean.
if you reach soft limits it is already too late for any programmatic recovery. if you have motion that is calculated and could wind up in far or strange place, you need to check what the target is like before you send robot to go there. for that you need to use INV_POS() to see where the axes would be if the robot is to proceed on this path...
