# Get\_inverse\_kin returns angles exceeding the axis limits

**URL:** <https://forum.universal-robots.com/t/get-inverse-kin-returns-angles-exceeding-the-axis-limits/18065>\
**Category:** URScript\
**Created:** [December 9, 2021, 5:23am UTC](https://forum.universal-robots.com/t/get-inverse-kin-returns-angles-exceeding-the-axis-limits/18065 "2021-12-09T05:23:04Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![anon66688617](https://avatars.discourse-cdn.com/v4/letter/a/e5b9ba/32.png) [@anon66688617](https://forum.universal-robots.com/u/anon66688617)\
**Post date:** [December 9, 2021, 5:23am UTC](https://forum.universal-robots.com/t/get-inverse-kin-returns-angles-exceeding-the-axis-limits/18065/1 "2021-12-09T05:23:04Z")

</div>

Robot : UR10e  
Software version : 5.11.5.1010327

Hi.  
I’m facing a problem with IK calculations using URScript.

I tried this ur-script.(This script will pop up the result, if the IK calculation result is OK.)

```auto
def myProg():
        canMove = get_inverse_kin_has_solution(p[-0.15462394,-0.32538053,0.0131264245,-0.9729848,2.9537551,0.02468018],[-1.5364907,-1.2845852,-2.6983585,-0.7535419,1.5966967,-6.300638])
        if canMove == True:
                ikResult = get_inverse_kin(p[-0.15462394,-0.32538053,0.0131264245,-0.9729848,2.9537551,0.02468018],[-1.5364907,-1.2845852,-2.6983585,-0.7535419,1.5966967,-6.300638])
                popup(to_str(ikResult))
        end
end

```

and I got this result.  
 ![ikresult2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/1c32409b909f8bc0fff898ad87c0a21d21426fe1.png)

The IK result of wrist3 exceeds the axis range of UR10e’s wrist3(±360 degrees) …

Is there any solution to get IK results that are definitely within the axis range?