Worldzones

IRBfan

I always recive Syntax error. I just want to test the Worldzones in order not to crash into a Table and / or Wall while i am in manual or automatic mode. I created a Box and tried to limit it. I have got Robotstudio 5.14.03, IRB360 and IRC5. So i wrote this programm Module. The error says: Unexpected identifier in the Line of the WZBoxDef. If have got the WZ package installed. If i use MoveL for automatic control Robostudio goes cracy. Can someone help me?

MODULE Main
VAR shapedata volume;
VAR wzstationary max_workarea;
CONST pos corner1 :=[25,110,-1100];
CONST pos corner2 :=[-52,233,-888];

CONST robtarget MP := [[0,0,-1050],[0,1,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget MPout := [[30,110,-1080],[0,1,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget MPin := [[-30,1500,-950],[0,1,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

WZBoxDef  Inside, volume, corner1, corner2;
WZLimSup Stat, max_workarea, volume;
ENDMODULE

charon

Hi IRBfan,

 

I copy/paste your code to a text editor and it seems there are space characters between "" and "Inside","Stat" keywords. You need to delete those in both line.

 

BR.