INRANGE real-valued function INRANGE real-valued function Syntax 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 Optional transformation function, variable, or compound that specifies a desired position and orientation for the robot tool tip. If this parameter is omitted, INRANGE will indicate if the current location of the selected robot can be reached. Details The function returns a value that indicates whether or not the given location can be reached by the robot.
The value zero indicates that the specified location can be reached. If the location cannot be reached, the returned value is a coded binary number that identifies the reason. A bit equal to 1 in the value indicates that the corresponding robot constraint would be violated, as shown in the table below: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 294 Mask Value Bit # Hex Decimal Indication if bit set 1 1 1 Joint or motor 1 is limiting 2 2 2 Joint or motor 2 is limiting 3 4 4 Joint or motor 3 is limiting 4 8 8 Joint or motor 4 is limiting