INRANGE (location)

Function

Return a value that indicates whether a location can be reached by the robot and, if not, why not.

Usage Considerations

The INRANGE function returns information for the robot selected by the task executing the function.

Parameter

location Transformation function, variable, or compound that specifies a desired position and orientation for the robot tool tip.

Details

Returns system error bits that indicate whether the given location can be reached by the robot. A value of zero indicates the specified location can be reached.

If the location cannot be reached, the returned value is a coded binary number that identifies the error. A bit equal to 1 in the value indicates that the corresponding robot constraint has been violated as shown in the table below:

	Mask Value
Bit #	Hex	Decimal	Indication if bit set
1	1	1	Joint 1 is limiting
2	2	2	Joint 2 is limiting
3	4	4	Joint 3 is limiting
4	8	8	Joint 4 is limiting
5	10	16	Joint 5 is limiting
6	20	32	Joint 6 is limiting
7	40	64	Joint 7 is limiting
8	80	128	Joint 8 is limiting
9	100	256	Joint 9 is limiting
10	200	512	Joint 10 is limiting
11	400	1024	Joint 11 is limiting
12	800	2048	Joint 12 is limiting
13	1000	4096	Collision detected
14	2000	8192	Location is too close in
15	4000	16384	Location is too far out
16	8000	32768	Joint vs. motor limiting; see below

If your motion system is configured to return motor as well as joint limit errors, bit 16 indicates whether a joint or motor is limiting the motion device move to location. If bit 16 is set, a motor is limiting. Otherwise, a joint is limiting. Since joints are checked first for limiting conditions, if bit 16 is set, all joints passed the limit checks and a motor is the limiting factor.

The mask values indicated above can be used with the BAND operator to determine if a corresponding bit is set.

Example

INRANGE(pallet:hole) 

Returns a zero value if the robot can reach the location defined by the compound transformation pallet:hole.

If both joints 2 and 3 prevent the motion from being made, the value returned will be 6.

Related Keyword s

... value BAND value ... (operator)

SELECT (device_type, mode) (program instruction and real-valued function)

Syntax

INSTALL-I