Thank you.
Where do I put this? RobData?
I see it needs to be connected to power on, I'll work that out I'm sure!
So, taken from the technical rapid manual:
Basic examples of the instruction WZLimJointDef are illustrated below.
Example 1
VAR wzstationary work_limit;
...
PROC power_on()
VAR shapedata joint_space;
CONST jointtarget low_pos:= [ [ -90, 9E9, 9E9, 9E9, 9E9, 9E9],
[ -1000, 9E9, 9E9, 9E9, 9E9, 9E9]];
CONST jointtarget high_pos := [ [ 90, 9E9, 9E9, 9E9,9E9, 9E9],
[ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
WZLimJointDef \Outside, joint_space, low_pos, high_pos;
WZLimSup \Stat, work_limit, joint_space;
ENDPROC
Do I need to do VAR wzstationary for each axis 1 grouping?
VAR wzstationary work_limit_axis1_88to92;
VAR wzstationary work_limit_axis1_84to87;
VAR wzstationary work_limit_axis1_80to83;
Do I then need
VAR shapedata joint_space_axis1;
VAR shapedata joint_space_axis2;
VAR shapedata joint_space_axis3;
I can't find an example of multiple axis combinations, thats what I don't quite get yet!