Hello everybody,
I would appreciate your comments about how to set a cylindrical area in a KR10 Agilus robot KRC4 Compact.
I am trying to define some safety restricted areas for working (via software), using $workspace areas. I will need 5 or 6 cube areas in total, however I have seen in the $machine.dat that exist 8 Cylworkspaces:
DECL CYLINDER $CYLWORKSPACE[8] ;
$CYLWORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
$CYLWORKSPACE[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
...
Do anybody know what Z1, Z2 and R parameters mean?
I guess could be Z1=Initial Zet, Z2=Final zet and R= Radius of cylinder.
I cannot find documentation about if it is possible use these areas and how them work.
Thank you in advance.