Stationary World Zone => ToolZone

CSI_MD

ABB,

 

With instruction WZLimSup I can limitate the working area for the robot.

BIG problem is that only the current active TCP is monitored.

It is NOT possible to avoid that the tool itself goes out the zone .

 

What I would like is new functionality in the robot:

Around the Tool I would like to create a ToolZone the same as defining a WorldZone.

It should be possible to define different shapes with ShapeData.

 

The function WZLimSup should be monitored with the active ToolZone.

 

Thanks,

 

CSI_MD