IRB6400 M94A WORLD ZONE

[Trebor]

I was wondering if anyone knows a script to creat a word zone for an IRB6400 M94A s4,
as these robots dont have word zones for setting up home pos Di.

any help would be great .

Trebor

[Werner Hampel]

You could insert this into your user.sys:

Code:

  FUNC bool rCheckPosition(
    num DistanceInMM,
    robtarget Position,
    PERS tooldata toolUsed
    \PERS wobjdata wobjUsed)

    VAR robtarget CurrentPos;
    VAR num nDistance:=0;

    CurrentPos:=CRobT(\Tool:=toolUsed\WObj?wobjUsed);
    IF rRbtToRbtDist(Position,CurrentPos)<DistanceInMM AND rRbtToRbtConfig(Position,CurrentPos) THEN
      RETURN TRUE;
    ENDIF
    RETURN FALSE;
  ENDFUNC

Than you can do for Example this in your Programm:

Code:

    IF rCheckPosition(5,pHome,tGreifer) THEN
      !TPErase;
      !TPWrite "I am in Homeposition";
      Set doHomeposition;
      WaitTime 2;
      !TPErase;
    ELSEIF
      !TPErase;
      !TPWrite "I am NOT in Homeposition";
      Reset doHomeposition;
      WaitTime 2;
      !TPErase;
   ENDIF