Is there a possibility to define world zones like other brands have.
I mean : you can define a cube or sphere in the working space and if the TCP of the robot is in that cube or sphere a specific bit is set, so at each time you can evaluate
in the program where the TCP is.
World zones in R30i B
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Plc_User -
January 12, 2017 at 9:47 AM -
Thread is marked as Resolved.
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As addition to the above : If I should want to read in the program code the actual robot position,
I found two methods : using the system variables : $SCR_GRP[1].$MCH_POS_X,$SCR_GRP[1].$MCH_POS_Y,$SCR_GRP[1].$MCH_POS_Z
or using LPOS instruction.
What is preferred?
If using LPOS instruction, is the position refered to the actual user frame, or to the world frame?
If it is referring to the actual userframe, I suppose setting userframe to 0 forces the LPOS instruction to give the position related to world frame?
Are the system variables $SCR_GRP[1].$MCH_POS_X,$SCR_GRP[1].$MCH_POS_Y,$SCR_GRP[1].$MCH_POS_Z refered to the world frame? -
There are a few options for "zones".
1 is reference positions, standard feature, which are not cubes, but a recorded point with joint angle tolerances. If you open up the tolerances you can create larger zones of varying shapes, but it may be hard to visualize.
2 is space check, paid feature, which is a true zone function like you would expect.
3 is DCS, paid feature, which the main purpose is for safety, but does allow you to create zones that do not trigger any stop functions, just turn a bit on or off.
4 is create your own program using $MCH_POS, LPOS or JPOS to determine the current position. Could have a program to a one time check or monitor with BG logic or condition monitor. I don't think LPOS is supported in BG Logic.
I believe MCH_POS only updates in auto mode and outputs in world coords, you would have to test this. LPOS outputs in whatever the current UF & UT is, so if you want it in world, then set UF to 0 just before reading LPOS. Also, keep in mind that if the move prior to LPOS is CNT it will trigger LPOS before the move is complete.
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3 is DCS, paid feature, which the main purpose is for safety, but does allow you to create zones that do not trigger any stop functions, just turn a bit on or off.If you go this route, keep in mind the non stop zones still count against your process time factor count. Found this out the hard way on a cell I was working on.
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The key to keeping the time factor down is to create a separate user model that is just a Sphere ( point element). Use the Simple model for zone checking and a more complicated model only for true safety zones.
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