Worspace Staubli

Hello Ycrideas,

With Val3, it's really easy to build workspace...but you need to program all the functionnality (even if i remeber that you have an example on the Stäubli webside).

First is to decide if the workspace is to protect human (and you need to use Safety functionnality) or not).

In the second case :

- Read the robot position (hereJ() or here(...). You can read the joint position or cartesian position of all tool in all frame.

- Compare the coordinates memorized to the volume (all form, in all the frame you want)

- Send the result to a bool variable or directly to an Output.

- If you want, you can add this calcul in a "loop" program called in a task (taskcreate)

For example, for 1 cube, the program WorkSpace()

begin
  do
    // Memorize the position 
    l_PosAct=here(tGripper, fMachine)
    
    // Control the coordinates
    bInCube=true
    bInCube=bInCube and (l_PosAct.trsf.x>110 and l_PosAct.trsf.x<210)
    bInCube=bInCube and (l_PosAct.trsf.y>120 and l_PosAct.trsf.y<220)
    bInCube=bInCube and (l_PosAct.trsf.z>130 and l_PosAct.trsf.z<230)
    
    // Send or memorize the result
    doOutOfCube = bInside==false
    
    delay (0)
  until false
end

To run the functionnality :

taskCreate "WorkSpaceTsk",100,WorkSpace()

With this method, you can create all the form, as much as you want...

Have a nice day...