Pick and Place LUA script

#1

Hi,

Can you help me please with the LUA script below?
This is to pick the product from a matrix and place it at P2 place.
P1 is the matrix origin. The matrix size should be 4 by 4 (16 products in total).

There are two for loops to calculate offset of a product within the matrix.
Then by Jump(RelPoint(P1, MOffset), Option1) product at index i and j should be picked from the matrix.
i, j are row and column index.

local Option1={SpeedL=50, AccL=90, Start=10, ZLimit=30, End=10}
local Option2={SpeedL=50, AccL=90, Start=20, ZLimit=50, End=}
local MOffset={0, 0, 0, 0}

while true do
for i = 0, 3 do
for j = 0, 3 do
– Calculate product offset
MOffset[1] = 67j
MOffset[2] = 60i
MOffset[3] = 0
MOffset[4] = 0
print(i, j)
print(MOffset)
– Pick product from matrix P1 + offset
Jump(RelPoint(P1, MOffset), Option1)
– and Place at P2
Jump(P2, Option1)
end
end
end

All goes well when the matrix is 2 by 2 elements. When I am trying to extend it to 3 x 3 elements then during movement robot stops and controller reports the error '5, 23, Plan point during linear motion out of working area.

I know all elements in the matrix are in operating range of the arm as
MG 400 can reach all elements in teaching mode.

How I can get rid of the error?

#2

try to approach the coordinate point using PTP motion

#3

I replaced Jump commands by MovJ and it is working without error.
The thing is I need to use Jump command to avoid mechanical collision. MovJ is not acceptable.
Is there any way to get it working as expected with Jump?

#4

use relative movements (Removal and RelMovJ) and smoothing (CP=100). The result will be no worse than Jump.