point and working area

[nowire75]

hi all,

I want to ask you if is possible to determinate if a point is into the working envelop of my robot.
For example I have a P1 point. P1 is {X 1200,Y 500, Z 1000, A 0, B 0, C 0}. This point is inside of my robot working envelope and I have no problem.
But if my point is  {X 1200,Y 500, Z 9000, A 0, B 0, C 0} the robot stops because the point is outside. For example P1.Z is a resoult of more operations.
Is possible, by code, in the robot program or in an user external program, determine if the point is OK?

Nowire

[the leg]

you can use the sps to monitor the data you are using and use it to check against some pre-determined values. You can use it to stop the robot if the data is out side of the values.

[fishboy]

You need to know what the permitted maximum distance is.

you could simply wait for the value to be lower than the maximim.

WAIT FOR P1.Z<=2500; where 2500 is the maximum

I am a little concerned the external device is creating a position 7 odd metres outside the normal working area. I think this should be addressed first.

[abhi]

you can see the work envelop in the data sheet of the robot , and make your own code in VB or you can use simpro from kuka its very effective