Worldzone for stationary tool?

EricH

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?

scottdf93

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;