Robot Info-KR120 R3200 PA
Controller-KRC4
Software-KS V8.3.102 *No Safe Operation on system*
Situation-The robot is enclosed in a polygon shaped safety fence
Workspace Type-Cartesian
My Goal-I would like to have multiple workspaces that will surround the robot and stop the robot if it is jogged too close to the fence. I am using outside_stop mode on the other robots we have but they use only one workspace which is just a box.
Question-I tried setting up multiple workspaces to surround the robot in a way that if it got too close to the safety fence it would stop it but when I move from one workspace to another it gives a workspace error even though there is no point that I am not in at least one of my workspaces. Is there some way that I can have multiple workspaces or will I have to use Inside_stop and set up those workspaces to line my safety fence?