Setting a joint value near the joint limit for a Fanuc robot causes overshoot of the location with Move to Location. The location is also set with a Zone of Fine, Joint motiontype, and 100% speed. If you are more than 1 degree from the limit, it will move to the location correctly.
Solution
As of Process Simulate 13.0.1, there is a new motionparameter.e argument to use for the "motion_space" parameter for Fanuc RJ3 robots:
motion_space space_karel_rj3;
The change from the space_karel value is affecting the Turns transition values; it is hard-coded and the default_turns transitions have no effect (but the definition needs to exist).
Here is the description of it:
The Fanuc turns for rj3 have 3 expressions.
Fanuc turns:
(-720 < theta <= -540)
-540 < theta <= -180
-180 < theta < 180
180 <= theta < 540
(540 <= theta < 720)
normal turn:
-540 <= theta < -180
-180 <= theta < 180
180 <= theta < 540
The normal turn is a simple expression, but Fanuc turn is not a simple expression.
* -900.00 < turn (-2) <= -540.00
* -540.00 < turn (-1) <= -180.00
* -180.00 < turn (0) < 180.00
* 180.00 <= turn (1) < 540.00
* 540.00 <= turn (2) < 900.00
Using Motion Toolbox / Pose tab
turn 3 : 900.01, 900.00
turn 2 : 899.99, 540.01, 540.00
turn 1 : 539.99, 180.01, 180.00
turn 0 : 179.99, -179.99
turn -1: -180.00, -180.01, -539.99
turn -2: -540.00, -540.01, -899.99
turn -3: -900.00, -900.01
Notes and References
Hardware/Software Configuration
Platform: INTL64
OS: window
OS Version: 764SP1
Product: TECNOMATIX
Application: PROCESS_SIMULAT
Version: V13.0.1
Function: ROBOTICS
Ref: 001-8946452