Curiousity on Creating a Zone that Turns on a DO

    Hello,

    Is it possible, (not using a DCS) to Create a Zone in Space that always turns off a DO? i fell like there should be, i am using a R30ib MH robot combo. i just want to make sure that i have a press clear DO turn off when its past a Area in space, that the signal will always turn off and then when it goes back into the safe Area turns on that DO.

    at the moment i have the DO signals controlled in the Pick up routine that it waits for its permissive then sets it, but i was challenged with the idea of a "bad tech" skipping the DO section of my routine, and leaving the robot in the press and starting Auto, i Figure it this would be a Background logic routine. but how to create this "zone" is my issue.

    Thanks all

    There might be an option with System Variables in back ground logic. I know that you can use system variables to pull the robot's joint position, so i imagine there exists a way to pull the cartesian position. Then you can make a background logic program that looks at these variables and compares them to the desired zones, and sets the DO based on that.

    An alternative would be a reference position with a huge tolerance (i am not near a robot right now, so i don't know what options may exist down this path), the idea being that if it is within a few feet of the safe zone's reference point, then the DO would be on, and if it left the safe point window, it would turn off.

    I think the first one is the more elegant solution, but if the options under reference position allow this implementation to work, it would probably be easier. Both are buried just enough that someone without a bit of training would not be likely to walk up and circumvent it.

    I've been using this program to check if the robot is in a zone. Sometimes I have it in a background program pulling in the position, and others, I do an LPOS and run it once before recovery. It relies on having 2 PRs to define a zone and checks if the position is inside of the zone. If anyone is familiar with ABB's worldzones, this was my attempt to replicate it.

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