hi everyone ,
I would like to set the workspace limit for my robot. so that i can protect my equipment against damage. i am using KRC4 controller. i know where to set the workspace monitoring function in the smartpad. But i want to know how is the carthesian workspace monitoring is set up in #outside_stop mode. i succeeded in setting workspace monitoring on the axis specific workspace monitoring. But i want to do the same for the carthesian workspace . but i don't know exactly how to set the point and X1,X2 Y1 , Y2 and Z1,Z2. what that means " distance from the origin" and does the origin specifies the origin of the calibrated base we using or any point. can anyone help me with this. how to set the carthesian workspace monitoring for the KUKA KRC4 controller. i am not using the robot in any kind works i am new to KUKA and i am learning about the kuka functions . I have been stuck in this question for about a day .