I have a strange behavior with a KUKA KR240 with KSS 8.3.33 concerning workspace monitoring while using fixed external TCP.
I defined a box-shaped workspace in KRC\Steu\Mada\$custom.dat with the following syntax:
$WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 -1200.00,Z1 1000.00,X2 3475.00,Y2 1200.00,Z2 1975.00,MODE #OUTSIDE}
However after my program finished the last position was { X 1900, Y 0, Z 1300 }, the $WORKSTATE1 was still reported to be TRUE!
( $WORKSPACE[1].STATE was TRUE , I monitored the $POS_ACT variable online, too )
I thought that - in my case - $WORKSTATE1 tells whether the current TCP is OUTSIDE of the defined box.
The program used $IPO_MODE=#TCP to activate a fixed external TCP after reaching HOME position.
(Behind that line the workpiece is moved around and the TCP is fixed in WORLD)
Is it the workpiece origin that is being verified if it's outside the workspace box in case a fixed tool is active?
Do I have to re-design the box in the space of the external TCP instead of the WORLD coordinate system?