Worldzone for stationary tool?

EricH
Germany ✭
I need a signal, when the robot reaches an area. The manual says that the worldzone don't work for a stationary TCP. Does anyone know a workaround?
Answers
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EricH said:I need a signal, when the robot reaches an area. The manual says that the worldzone don't work for a stationary TCP. Does anyone know a workaround?Use joint targets rather then robtargets if possible
VAR shapedata joint_space;
VAR wzstationary wzHomePose;
CONST jointtarget delta_pos:=[[0.25,0.25,0.25,0.25,0.25,0.25],[10,9E+09,9E+09,9E+09,9E+09,9E+09]];WZHomeJointDef\Inside,joint_space,HomePose,delta_pos;WZDOSet\Stat,wzHomePose\Inside,joint_space,doAtHomePose,1;