WorldZones

TimurKhamzin

Hello gents.

I need your help. I wanna know how to create and use WorldZones. If somebody have have information about i will very happy.

Thank you.

SjoLi

Instructions concernig world zones start with WZ...

to define a worldzone U can use the instruction WZBoxDef/WZCylDef

Read all about it in the rapid manual

MrWoo44

Hello. I'm new with robotics, but I think I can help you with this one.

In its simplest way, a World Zone is a way to define a zone within the working range of the manipulator. This zone can be used to avoid collisions with equipment (including other robots) or perform an action when the robot's TCP reaches the zone.
A World Zone can be declared by either coordinates (robtarget type data, can either be teached or declared) or joint angles. In the former case, the world zone is declared as a geometrical shape by using the instructions WZBoxDef (box-shaped zone), WZCylDef (cylinder-shaped zone) or WZSphDef (sphere-shaped zone). To declare these zones, you must declare a shapedata type variable, where the volume and shape of the zone will be stored (you only have to declare it and use it as a parameter in the instruction; the program will calculate and store the data automatically).
As an example, to declare a box-shaped zone you would write:

var shapedata volume;
WZBoxDef \Inside, volume, corner1, corner2;

Where \Inside means that the inside volume of the box is to be considered (\Outside is the opposite), volume is a shapedata variable previously declared, and corner1,corner2 are robtarget variables; in this case, they store two opposite corners of the box (for other shapes, please refer to Technical Reference Manuals ->RAPID Instructions, Functions and Data Types).
Once declared, they can be used to turn on a digital output (either physical or virtual) with the WZDOSet instruction, or stop the movement with WZLimSup when the robot's TCP reaches the declared zone. They both work during either program execution and jogging. I usually declare these instructions in system modules, but I don't know if this is necessary.

MrWoo44

In its simplest way, a World Zone is a way to define a zone within the working range of the manipulator. A World Zone can be declared by either coordinates (robtarget type data) or joint angles. In the former case, the world zone is declared as a geometrical shape with the instructions WZBoxDef (box-shaped zone), WZCylDef (cylinder-shaped zone) or WZSphDef (sphere-shaped zone).
For example, for a box-shaped zone you would write:

WZBoxDef \Inside, volume, corner1, corner2;

Where \Inside means that the inside volume of the box is to be considered (\Outside is the opposite), volume is a shapedata variable previously declared, where the volume of the zone will be stored, and corner1,corner2 are robtarget variables; in this case, they store two opposite corners of the box (please refer to Technical Reference Manuals ->RAPID Instructions, Functions and Data Types).
Once declared, they can be used to turn on a digital output (either physical or virtual) with the WZDOSet instruction, or stop the movement with WZLimSup when the robot's TCP reaches the declared zone. They both work during either program execution and jogging. I usually declare these instructions in system modules, but I don't know if this is necessary.

MrWoo44

A World Zone is a way to define a zone within the working range of the robot. It can be declared by either coordinates (robtarget type data) or joint angles. In the former case, the world zone has a geometrical shape with the instructions WZBoxDef (box-shaped zone), WZCylDef (cylinder-shaped zone) or WZSphDef (sphere-shaped zone). For a box-shaped zone you would write:

WZBoxDef \Inside, volume, corner1, corner2;

Where \Inside means that the inside volume of the box is to be considered (\Outside is the opposite), volume is a shapedata variable previously declared, where the volume of the zone will be stored, and corner1,corner2 are robtarget variables; in this case, they store two opposite corners of the box (please refer to Technical Reference Manuals ->RAPID Instructions, Functions and Data Types).
Once declared, they can be used to turn on a digital output (either physical or virtual) with the WZDOSet instruction, or stop the movement with WZLimSup when the robot's TCP reaches the declared zone. They both work during either program execution and jogging. I usually declare these instructions in system modules, but I don't know if this is necessary.

MrWoo44

A World Zone is a way to define a zone within the working range of the robot. It can be declared by either coordinates (robtarget type data) or joint angles. In the former case, the world zone is declared as a geometrical shape with the instructions WZBoxDef (box-shaped zone), WZCylDef (cylinder-shaped zone) or WZSphDef (sphere-shaped zone).
For a box-shaped zone you would write:

WZBoxDef \Inside, volume, corner1, corner2;

Where \Inside means that the inside volume of the box is to be considered (\Outside is the opposite), volume is a shapedata variable previously declared, where the volume of the zone will be stored, and corner1,corner2 are robtarget variables; in this case, they store two opposite corners of the box (please refer to Technical Reference Manuals ->RAPID Instructions, Functions and Data Types).
Once declared, they can be used to turn on a digital output (either physical or virtual) with the WZDOSet instruction, or stop the movement with WZLimSup when the robot's TCP reaches the declared zone. They both work during either program execution and jogging.

MrWoo44

Hello. I'm new with robotics, but I think I can help you with this one.

In its simplest way, a World Zone is a way of defining a zone belonging to the manipulator's working range. When the robot's TCP enters to that zone, a number of activities can be performed.
The World Zone can be defined with either coordinates (robtarget type variables), which form a geometrical zone (for example, a cube, a sphere or a cylinder), or by joint angles.

I've used only the geometrical ones: WZBoxDef (box-shaped zone), WZCylDef (cylinder-shape zone) and WZSphDef (sphere-shaped zone). For those, you have to create a "shapedata" type variable (the program uses this variable to store the volume and shape of the zone, but you usually don't need to do anything else but declare it). Then, you define the instruction like this:

WZBoxDef \Inside, volume, corner1, corner2;

Where "\Inside" means that the considered volume is inside the box (\Outside is the opposite), "volume" is a "shapedata" type variable, and "corner1, corner2" are robtarget type variables (can be teached or declared); in this case, they represent two opposite corners of the box. For the rest of the instructions, please refer to "Technical Reference Manual - RAPID Instructions, Functions, and Data Types (3HAC16581-1)".

Once declared, a WorldZone can be used to either turn on an output signal (either physical or virtual) with the instruction WZDOSet, or stop the movement with the instruction WZLimSup. This works during both program execution and jogging. Usually, I put this kind of instruction in a system module, but I don't know if this is necessary.