Worldzone for stationary tool?

EricH ✭

August 2019 in RAPID Programming

I need a signal, when the robot reaches an area. The manual says that the worldzone don't work for a stationary TCP. Does anyone know a workaround?

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Answers

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  scottdf93 ✭

  October 2020

  EricH said:

  I need a signal, when the robot reaches an area. The manual says that the worldzone don't work for a stationary TCP. Does anyone know a workaround?
  

  Use joint targets rather then robtargets if possible
  
   VAR shapedata joint_space;
  VAR wzstationary wzHomePose;
  CONST jointtarget delta_pos:=[[0.25,0.25,0.25,0.25,0.25,0.25],[10,9E+09,9E+09,9E+09,9E+09,9E+09]];
  
  

  WZHomeJointDef\Inside,joint_space,HomePose,delta_pos;

  WZDOSet\Stat,wzHomePose\Inside,joint_space,doAtHomePose,1;

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