I am able to configure a static world zone that limits the working area of the robot : if the robot enters the zone in automatic mode, the robot stops.
In the documentation I saw that the limitiation also works for jogging, but in robotstudio I can jog althrough the zone without restriction.
Are there some rules to apply to make the zone active also for jogging and not only in automatic, because in my case it only works in automatic.
Thanks.
WZLimSup : limit working area with world zones
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Plc_User -
May 31, 2014 at 12:41 PM -
Thread is marked as Resolved.
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Did you configure the worldzone routine on the event routine "POWER_ON" ?
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Yes I did.
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Weird...
I did a little test in my Robotstudio and it worked.
MODULE MainModule
VAR wzstationary wzstat1:=[0];
PERS pos pos1:=[450,-715,500];
PERS pos pos2:=[1100,150,1300];
VAR shapedata shape1;
PROC main()
MoveJ [[763.86,-198.73,1013.43],[0.178597,7.96472E-06,0.983922,-8.44815E-06],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ [[763.85,783.78,1013.42],[0.178598,8.83062E-06,0.983922,-8.07209E-06],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
ENDPROC
PROC rWz_routine()
WZBoxDef\Outside, shape1, pos1, pos2;
WZLimSup\Stat, wzstat1, shape1;
ENDPROC
ENDMODULEI created the event routine with the follow parameters:
Event = POWER_ON
Routine = rWz_routine
Task = T_ROB1
All task = NO
All motion task = NO
Sequence Number = 0My RobotStudio Version is:
RobotStudio 5.15.02 (64-bit)
Version 5.15.5405.2005