TargetOK VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns a status indicating whether or not the PTP (Point to Point) motion from the current position to a target position is possible.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Target OK	The robot can move to the target position.
At Home	Boolean indicating if the current robot is at the home position.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the comments in the SetPoint VI.

See Also
BGo VI, Go VI, Jump VI, TGo VI, SetPoint VI

TargetOK Example