Help setting up a zone to control press open/close function

Setup a reference postion. You can assign an output to a reference position. [MENU], Setup, Ref Position.

I would try to use the Space Check function.

We have 13 press with 24 robots that go inside the presses and we VERY rarely ever see issues with collisions of the press and robots. Maybe once every couple of years there is a strange happening and one robot gets hit a bit by the press.

We don't use Ref Positions or Space Check functions on any of them either just TP programs and a PLC.

if you have DCS and memory still available....you could use a DCS zone..... other than that the reference position should do the trick, but it is in joint angles not Cartesian.

jmax26

You are right about $MCH_POS
The right way will be to use DCS or Space Check

Another way is to use Ref Pos. Standard robot has 9 available, assuming you have 1 for Home, you could do cool things with the other 8

I don't know the config of the tool, size of press, etc, etc etc so I can only assume things as follow

Teach one Ref Pos with every axis wide open except J1. Find you max and min of the worst position that the robot could crash the press. Think about the unthinkable
Same as above but with J2
By the time you finish teaching this two you will have a pretty good idea what to do with the other Ref Pos (if you need them)

Each Ref Pos get an output assigned to PLC, so, let the PLC to the boolean logic of your signals IF OT1 ON and OT3 OFF THEN CLEAR OF PRESS, etc etc

Hi
When you use the ref position send the output=ON when the robot is outside the press. When the signal goes OFF you stop the press movements. Like that is more safety.
You can check complementary output signal to switch the states.