enabling world zone in multitask system

xeratule

Is it possible to define or enable, disable world zone in a multitask system. I want to define it in static or semistatic task. When I use wzdoset or wzlimsup codes the rapid program gets stuck.

Henrik Berlin

What do you mean by 'gets stuck'? Do you get any messages in the controller event log?

 

Do you have the RobotWare options for Multitasking and World zone in your controller system?

 

(Moved to RobotWare)

xeratule

Yes I have that options already installed...I mean the program pointer stops at WZDOSet code and stops running showing the following error:

40813: Execution Error

 

Description

Task: MergedTask

The task is not allowed to execute the instruction WZDOSet. 

Program Ref. /MergMod/wz_conv/WZDOSet/29

Causes

The task is not configured to control mechanical units.

Actions

Change the configuration or remove 

So does this mean semistatic or static tasks can't define world zones?

Marcel

Hi

You have to define the WorldZone in the main task where the mechanical units are defined. But you could set a virtual signal with the WorldZone in the main task and to activate the signal you could set a second virtual signal and crossconnect them in the EIO.cfg to get the needed output signal.

 

Best Regards

Marcel

xeratule

Hi Marcel,

I have two robots which have common work area. In manuel mode when one robot occupies the common zone, the other robot shouldn't be let in that area even by manual jogging. 

In manual mode main task is not operational. So eventhough I send signal from the static task to activate the worldzone defined in the main task, it won't be enabled. Do I miss something?

Erhan KU?z

Marcel

Hi Erhan <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

 

I am not sure if I understand you correct.

 

Once you have defined the world zone to set an output, the signal will be set also in manual mode. So you could decide in the background task what to do with that signal. For example you could set an output that would stop on of your robots by setting a system input for stopping the robot.

 

Best regards

 

Marcel

xeratule

Marcel,

The problem is that. I don't want to disable the robot movement which is out of the common workzone. When one robot enters the common workzone, the other robot shouldn't enter that zone but it could still move outside the common workzone. How could I achieve this?

Thanks in advance. Best regards.

Erhan KU?z

Marcel

Hi Erhan <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

 

We once realized a solution with two robots, each of them setting a free signal. IF both signals go to 0 the robots will be stopped from the background task. Movement was only possible in manual mode and only up to a distance of 100 mm from the stop position. After 100 mm it was possible to start again after releasing the enabling switch and pressing it again.

 

Best regards

 

Marcel