Hello. I'm having trouble getting my world zones to activate on startup.
Routine HomingR1_WZCall() is connected to event "Power On."
I'm not getting any faults related to the world zones either.
Attached is a section of my program containing the WZ calls.
The robot is at jointtarget jtR1Approach, for example, but doApproach_R1 is still at 0.
MODULE HomingR1
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PERS tasks task_list{2}:=[["T_ROB2"],["T_ROB1"]];
VAR syncident Homing;
PERS num NumberFixture;
PERS num Decision;
TASK VAR num pok;
CONST robtarget pR1Approach:=[[1022.50,814.04,154.08],[0.66559,0.248034,-0.667581,0.223169],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget jtR1Approach:=[[16.53,9.6221,-29.92,-34.9551,62.87,19.3324],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget jtR1ApproachDelta:=[[2,2,0.04,2,2,2],[9E9,9E9,9E9,9E9,9E9,9E9]];
VAR shapedata R1ApproachingPart;
VAR wzstationary wzR1_jtApproach;
VAR shapedata shp_ExternalMag;
CONST pos CylCenter:=[538.24,796.18,1160.09];
CONST num CylRad:=112;
CONST num CylHeight:=520.5;
VAR wzstationary wzR1_ExternalMag;
VAR shapedata shp_ToolDrop;
CONST num SphRad:=150;
VAR wzstationary wzR1_ToolDrop;
VAR shapedata shp_WorkPiece;
VAR wzstationary wzR1_WorkPiece;
CONST robtarget WorkPieceR1_High:=[[1305.98,1202.34,-44.30],[0.0110312,-0.0565798,0.996597,0.05892],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget WorkPieceR1_Low:=[[-454.76,-34.07,559.34],[0.641072,-0.238683,-0.681465,0.260119],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR shapedata shp_ExternalMagazine1;
VAR wzstationary wzExternalMagazine1;
PROC HomingR1_WZCall()
WZHomeJointDef\Inside,R1ApproachingPart,jtR1Approach,jtR1ApproachDelta;
WZDOSet\Stat,wzR1_jtApproach\Inside,R1ApproachingPart,doApproach_R1,1;
WZCylDef\Inside,shp_ExternalMag,CylCenter,CylRad,CylHeight;
WZDOSet\stat,wzR1_ExternalMag\Inside,shp_ExternalMag,doExternalMag_R1,1;
WZSphDef\Inside,shp_ToolDrop,pR1BitDropAP.trans,SphRad;
WZDOSet\stat,wzR1_ToolDrop\Inside,shp_ToolDrop,doToolDrop_R1,1;
WZBoxDef\Inside,shp_WorkPiece,WorkPieceR1_Low.trans,WorkPieceR1_High.trans;
WZDOSet\Stat,wzR1_WorkPiece\Inside,shp_WorkPiece,doAtWorkObject_R1,1;
ENDPROC
PROC Homing_R1()
...
ENDPROC
ENDMODULE