Issue with WZDOSet

Luxrobotic
Luxrobotic Luxemburg
Hello everybody,

I have a problem with the execution of the WZDOSet instruction here under.
The routine is an event routine linked with POWERON
So the WZDOSet is define at the start of the controller.
At the beginning of my program I checked the position of the doSafeZoneHome status, to be sure that the robot is in a safe pHome positon.

The problem is that at the tart of my program, the PLC send me the MotorOn and PPtoMainAndStart commands. After this, even if the robot is @ the pHome position, the Output doSafeZoneHome is still at 0.
If I move the robot manually and put it @ , doSafeZoneHome change to 1.
If I move to Auto, MotorOn and PPtoMainAndStart, the robot doesn't move from pHome and doSafeZoneHome change to 0.


    PERS wzstationary wzstatSafeZoneHome:=[1];


    PROC SafeHome()

        VAR shapedata SphereSafeHome;
        CONST pos pPoseHome:=[pHome.trans.x,pHome.trans.y,pHome.trans.z];
        CONST num nRadius:=50;
        !*************************************
        WZSphDef\Inside,SphereSafeHome,pPoseHome,nRadius;
        WZDOSet\Stat,wzstatSafeZoneHome\Inside,SphereSafeHome,doSafeZoneHome,1;
        !*************************************
    ENDPROC

Any idea ?

Thanks













Regards

Cornet Raymond
Manager
LUXROBOTIC programming Sàrl
+352 621 354 570
[email protected]
http://www.luxrobotic.com

PC HP ZBook 17 G3
intel Core i7 6700HQ 2.59 GHz
RAM 16GB
HDD 1TB
NVIDIA Quadro M1000M

Comments

  • Luxrobotic
    Luxrobotic Luxemburg
    Hi,

    I solved it by moving out of the Sphere and back inside at the beginning of my program.


    Regards

    Cornet Raymond
    Manager
    LUXROBOTIC programming Sàrl
    +352 621 354 570
    [email protected]
    http://www.luxrobotic.com

    PC HP ZBook 17 G3
    intel Core i7 6700HQ 2.59 GHz
    RAM 16GB
    HDD 1TB
    NVIDIA Quadro M1000M
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