Worldzone for stationary tool?

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

  • scottdf93scottdf93 United Kingdom
    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;
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