Software limit switch point cannot be reacher +A3

aauc-mechlab / JOpenShowVar

Allows reading and writing variables to KUKA robots using a TCP/IP connection

http://filipposanfilippo.inspitivity.com/projects/jopenshowvar-java-cross-platform-communication-interface-kuka-robots/57

BSD 2-Clause "Simplified" License

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Software limit switch point cannot be reacher +A3 #11

Closed jianghancheng closed 6 years ago

jianghancheng commented 6 years ago

Hello, I want to send "MYPOS" request to move the KUKA robot and got " Software limit switch point cannot be reacher +A3" error. I saw that you wrote the solution "what I did was to copy the X, Y and Z values from MYPOS into a locally declared POS variable, which then has the default S and T values. Continuous movement did then work." Sorry, I am a novice about KRL. Can you write several sample codes?

Thank you

markaren commented 6 years ago

Sorry, dont have time and have not worked with KRL in years. As this is an issue not really related to JOpenShowVar, but the KRL language in general. I would refer to KUKA support and the manual. But the gist of the issue you describe is that a newly declared POS variable will have S and T values of 0. This is probably not what you want. Use the current S and T in-stead. This is all I can help you with.