I have set the coordinates to PR[100] for the move
The following questions:
1.How can I determine if the stored position(PR[100]) exceeds the arm's coordinate limits?"
2.How can I determine if an error state occurs while calling TP to execute?"
Code
Example 1
KAREL CODE
xyz = POS(X,Y,Z,W,P,R,config_data)
SET_POS_REG(100,xyz,istatus)
CALL_PROG('MOVE_POINT',prog_indx)
--------------------------------
TP CODE(MOVE_POINT)
L PR[100:POINT] 2000mm/sec FINE ;
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Example 2
KAREL CODE
CNV_REL_JPOS(jpos_array,jpos,istatus)
SET_JPOS_REG(99,jpos,istatus )
CALL_PROG('MOVE_JOINT',prog_indx)
--------------------------------
TP CODE(MOVE_POINT)
J PR[100:POINT] 100% ;
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