WZDOSet throws "WZone Outside Work Area"

    Okay... I'm fighting a head cold at the moment, so maybe I've just lost my IQ points, but I've never had a WorldZone fight me this hard before.

    WZHomeJointDef\Inside,joint_space_TransitionUpstream,jTransitionUpStream,delta_pos_noRail;

    WZDOSet\Stat,TransitionUpstream_Pounce\Inside,joint_space_TransitionUpstream,voAtPounceUpstream,1;

    I've got a bunch of other WZs that don't dive me any issue, but this one keeps throwing 50261 and 50262. The jointtarget jTransitionUpstream is valid, I run the robot there in programs regularly. I've gone through the "delta" jointtarget and changed every axis to "9E9", one at a time, and I kept getting the errors.

    What exactly triggers these error messages? I thought it was when the combination of the target point and the "delta" went outside the soft limits of the axes, but my "delta" was originally set for 2deg and 10mm, which I've confirmed is well inside the soft limits when combined with jTransitionUpstream. And with every axis of the "delta" set to 9e9, there should be no checks carried out and no errors thrown. And yet, I still get these errors.

    RW 6.12. The robot is riding on a linear rail, EAX1. The rail is working fine and is correctly coordinated with the arm, this has been thoroughly tested.

    Check your axes' joint boundaries.

    It is advised to make a backup and open the moc.cfg file in a text editor to search for the hidden gems 'max' & 'min'.

    -name "j3" -use_arm_type "j3" -use_acc_data "j3"\

    -upper_joint_bound 2.005 -lower_joint_bound -0.05\

    -upper_joint_bound_max 2.015 -lower_joint_bound_min -0.15


    WZHomeJointDef\Inside,sh_Home,jpos_Home,jPos_Delta;

    WZDOSet\Stat,wz_Home\Inside,sh_Home,do_digOut,1;

    Works in this facility.

    So, I checked every min/max value for all 7 axes. I then ensured that the jointtarget for the position to use for the WZ had every axis at least 4deg from the nearest limit (over a meter, in the case of EAX1).

    I then set the "delta" jointtarget to [[1,1,1,1,1,1],[9e9,9e9,9e9,9e9,9e9,9e9]]. Rebooted.

    The WZDOSET still throws the "outside work area" fault messages. The messages were for EAX1, though. Which made no sense, but...

    Tried changing the "delta".EAX1 from 9E9, rebooted again. And the errors stopped. :wallbash:

    Okay. So, the "9E9" to turn off the WZ checking for an axis has to be in the position jointtarget, not the limit jointtarget. Which seems really stupid, but maybe that's my brain swimming in cold medicine.

    I may be able to get the effect I want by using a box WZ stretched along the axis of EAX1, instead. I'll have to poke at that.

    How do these values relate to the delta values? What's the difference between upper_joint_bound and upper_joint_bound_max? I'm getting the exact same error message, only my robots have no external axes.

    The max values are not displayed anywhere but in the text of a MOC file. They must be edited offline and loaded in the control.

    Why?

    If an entity wants to limit potential disastrous changes that uneducated programmers may accidentally introduce, like opening a boundary up to a value that will allow full speed collision into a hard stop, hidden min & max values are a possible solution.

    There isn't a correlation I am aware of between delta values and max values. Not sure about the history of this chain, but if the max values are too restrictive boundary violations will be generated and adjusting the joint boundary values shown on the pendant and RS will be valueless.

    I figured out what I needed for my purposes, but this explanation certainly makes sense! Thank you

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