Invalid Joint Configuration
Platform: Process Simulate
A location is assigned to a robot, but the robot cannot reach it with the current joint configuration. Resolver blocks the export so the unreachable location is not exported with an invalid pose. You can fix the configuration, or choose to export unreachable locations as unassigned.
Dialog shown in Resolver
Robot: {robotName}Operation: {operationName}Locations: {unreachableLocations} Invalid joint configuration Teach configuration in Robot Configuration dialog before exporting, or enable "Export unreachable locations as unassigned" option.
What you can do in this dialog
- Can you continue export? No (unless you enable exporting unreachable locations as unassigned)
- Buttons in the popup: OK
- What happens next: The export does not continue until the configuration is fixed or the unassigned option is enabled.
- Next step: How to fix it
Impact if you continue
Export cannot complete while a location assigned to a robot is unreachable with its current joint configuration. If you enable Export unreachable locations as unassigned, the affected locations are exported without a robot assignment instead of blocking the export.
How to fix it
- In the Robot Configuration dialog, teach a valid joint configuration for the robot at the reported location, then re-run export.
- If teaching does not help, check the following before exporting again:
- whether an alternative reachable configuration is available for that location,
- that the correct tool is mounted on the robot,
- that the UTool (tool frame) for the location is correct.
- Alternatively, enable Export unreachable locations as unassigned to export the affected locations without a robot assignment. See Unreachable Locations Exported as Unassigned.