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Limiting robot workspace


I am working with a Fanuc Arc Mate 120iB robot. We have a customized tool that is a little big. when the tool position is in parallel with the axis 4 and the axis 5 rotates and gets close to its maximum angle of rotation, it collides with the robot body (As I mentioned it happens in some specific positions not always). If I limit the axis 5, the robot movement will be so conservative and it may lose a big part of its workspace that is not necessary. My question is that is there any way to modify the robot workspace to limit robot movement in some specific positions?

You can use this function from the API:

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(08-23-2021, 07:43 PM)Jeremy Wrote: You can use this function from the API:


Thank you, I will try that.

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