Planning Result Indicated Waypoint Unreachable, Yet the Real Robot Could Reach the Pose

Symptom:

The planning result was that the waypoint was unreachable, and it was still unreachable after trying to disable constraints on robot joints. However, the pose could be reached by setting the TCP for the simulated robot or using a teaching pendant to control the robot.

Affected Versions:

Software: All versions.

Robot: Yaskawa GP180.

Possible Cause:

The pose is at a limit position.

Solution:

Modify the JPs parameters in the Robot tab.