ABB机器人如何检测目标点的可达性

对于ABB机器人，若目标点不可达，则会报错，因此可以使用一个检测功能，测试该点是否可达。下面是函数实现：

FUNC bool IsReachable(robtarget pReach, PERS tooldata ToolReach, PERS wobjdata WobjReach)

  ! Check if specified robtarget can be reach with given tool and wobj.
  ! 
  ! Output:
  !  Return TRUE if given robtarget is reachable with given tool and wobj
  !  otherwise return FALSE
  !
  ! Parameters:
  !  pReach     - robtarget to be checked, if robot can reach this robtarget
  !  ToolReach  - tooldata to be used for possible movement
  !  WobjReach  - wobjdata to be used for possible movement

  VAR bool bReachable;
  VAR jointtarget jntReach;

  bReachable := TRUE;

  jntReach := CalcJointT(pReach, ToolReach\Wobj:=WobjReach);

  RETURN bReachable;

  ERROR
   IF ERRNO = ERR_ROBLIMIT THEN
    bReachable := FALSE;
    TRYNEXT;
   ENDIF
  ENDFUNC