Decelerate movement at the end of reach?

Technical Questions URScript
1

Hi all,
we are using a handguiding program on our UR10 CB3.8. Foundation is the speedl function.
Now we have the problem, that if we are moving the robot towards its end of reach, at any point the constantly calculated spatial vector is out of the possible reach and our program stops.

Is there any opportunity or existing function to decelerate the robot’s movement if it goes towards the maximum reach?

Thanks in advance!

2

you could use the point_dist function using base and tcp, limit it to the Robot Range (i suggest 1200 mm) and use a stopj with a smooth deceleration if the distance reaches the range limit.
after that all you need is to compare if your desired move vector will increase the limited range. if so just block the speedl command

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