02-23-2021, 10:37 AM
Hi Van,
1. The inner "sphere" you see is a dead zone for the robot when you are in a specific configuration, in this case "behind" your back (joint 2 = -155).
2. There are many ways to know if a target is reachable or not.
a - If you create a target and it's out of reach, a yellow warning sign will appear on top of it (in the station tree).
b - If you create a program with some target in it, pressing F5 or right-click the program and "Check Path" will tell you if some parts of the path are unreachable.
c - Using the API, you can use MoveJ_Test to know if a target is or isn't within reach.
d - If you move a target (hold Alt and drag an axis) a ghost tool/robot will appear, if you drag it out of the robot's reach, the tool will become red.
Hope it helps.
Jeremy
1. The inner "sphere" you see is a dead zone for the robot when you are in a specific configuration, in this case "behind" your back (joint 2 = -155).
2. There are many ways to know if a target is reachable or not.
a - If you create a target and it's out of reach, a yellow warning sign will appear on top of it (in the station tree).
b - If you create a program with some target in it, pressing F5 or right-click the program and "Check Path" will tell you if some parts of the path are unreachable.
c - Using the API, you can use MoveJ_Test to know if a target is or isn't within reach.
d - If you move a target (hold Alt and drag an axis) a ghost tool/robot will appear, if you drag it out of the robot's reach, the tool will become red.
Hope it helps.
Jeremy
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