position base Do

[rahulmb]

How I can on or off a DO based on X,Y,Z Position i.e. Do should get off if I move robot  in prg. As well as in jog mode from defined robtarget Pl. Help

[jmac4506]

Are you wanting to base this off of a "home" position?

[prnuk2003]

You need to set up a World Zone that will set an output when the tcp enters the defined shape.

For example:

  VAR shapedata shapeSphHomeZone;
  PERS pos posHomeZone:=[-1400,175,1250]; ! same x,y and z of your home position

  PROC Homezone()
    !Homezone definition
    WZSphDef\Inside,shapeSphHomeZone,posHomeZone,50;
    WZDOSet\Stat,wzstatHome\Inside,shapeSphHomeZone,doHomeZone,1;
  ENDPROC

Routine should be activated once at startup.
doHomeZone will go high when tcp enters the sphere (radius of 50mm)

[megatooL]

Try the MoveLDO instruction

[mani_mech031]

@prunk2003 can you explain it clearly

[prnuk2003]

The example of the world zone above sets an output doHomeZone when the robot tcp enters the 50mm sphere that is centred at  x=-1400 y=175 z=1250.
Basically it replaces a home switch (not a replacement for a safety switch).

Different shapes and functionality is available.

[Neel]

Try with cpos instruction.