About the WZLimSup

haining

Hello,
          I have a question about WZLimSup instruction . If I want to limit the robot work within a safety fence without touching the border, I can define the size of the box, but here comes a question, when robot near the border, different orientation with different TCP may trigger the supervision . So how can I avoid wrong triggers, or just decrease the size of the box?
          Thank you!

lemster68

Maybe this will better suit what you need to do, WZLimJointDef.  Check it out in the manual.

sturner

WZLimSup will work with the active TCP ! so if you are orientating about the TCP, the robot wrist / tool body, could move beyond in / out of a defined volume. lemster68 is correct maybe WZLimJointDef would be better in avoiding this problem

soup

Got SafeMove?