Setting up World Zones for IRC5

i_robot

Hi All,



I'm having a terrible time setting up world zones for two new IRC5 6600.

I have set up world zones before on M98 S4C's. I want to setup a sphere
around my home position and a box around the work pieces. I have used
the WZSphDef and WZDOSet commands for the home position to no avail.



Here is the actual code.



    WZSphDefInside, shHome, Home.trans, nRadHome;

    WZDOSetTemp, wzhomeInside, shHome, R1_Home, 1;



This code is in  PROC wz_PowerOn() which is in user.sys.

I have attempted to set-up wz_PowerOn as an event routine that runs in
the background, but I don't know if I am being successful.



We are getting close to crunch time (naturally), and I am at the end of my rope.



Any help will be greatly appreciated.










i_robot2006-4-2 2:52:39

innebandy

Hello,

You probably forgotten one thing, I gess.

When you create a world zone, you need to connect the routine to an  event, such as POWER ON, START...

You can make it in system parameters, SYS.cfg.

Here is an example..

---------------------------------------------------

* World Zone routine*

  PROC rHomePos()
    WZSphDefInside,shapeHome,pos1,50;
    WZDOSetStat,wzHomeInside,shapeHome,do09_HomePos,1;
  ENDPROC

** SYS.CFG **

#
CAB_EXEC_HOOKS:

      -Routine "rHomePos" -Shelf "POWER_ON" -Task "T_ROB1"

---------------------------------------------------

Regards,

 

i_robot

Thanks, but I had that right. My mistake was that in the wztemporary
and wzstationary datatypes I had the exact same zones names. This
generated an error upon start-up and completely threw me off.