No Safety Zone

    • New

    Hi everyone

    I'm a beginner at programming fanuc but getting closer and closer to a to a beginner + level:winking_face:

    We usually program specific zone (or space) between the robot and the PLC in ethernet IP.

    These Zone are NOT SAFETY relative, the robot basically tell the PLC he is inside a zone and the PLC should not move anything inside this zone until the robot is out.

    I read articles using DCS but you cannot use a DO there.
    I could use REF POS where you basically config how close from the point you can be using all Jaxis and set a proper DO, but REFPos use joint position and I want to define a box.
    I did want to use Space fnct but this are linked to Interference Space setup and you need DI input, priority, alarm check and so on...


    Is their an specific option to use? or I need to use LPos using a BackGround program where I calculate the distance between the TCP current position and a specific point and set a DO when the robot is getting close to that point.


    Thank you.

    • New

    Thank you everyone for your answer. Space func does the job indeed

    btw use : $RSPACE1[SPACE_NUM].$NO_USE_DI=TRUE to configure the SPACE_FUNC without the need of DI AND the need of alarm actif (you cannot let DI[0] if alarm disable , you will have a message from the teach that states you need to display an alarm if DI[0]

    best regards

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