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] = 67*j
MOffset[2] = 60*i

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?