RobotStudio event

World zones wobj and tool

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pacijent
pacijent ✭✭
in RAPID Programming
Hello to all, I'm trying to use World zones option without success. When creating let's say sphere zone center to monitor home position do we use active tool or tool 0. Do we use wobj0 or active workobject (when reading jogging data)? What is situation if base frame of the robot is different than world frame in RobotStudio (robot mounted on pedestal). Thanks a lot in advance.

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  • lemster68
    lemster68 ✭✭✭
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    Use WZHomeJointdef, is better.
    Lee Justice
  • j_proulxFB
    j_proulxFB ✭
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    The World Zone looks at your active tcp in relation to where you defined your object in the World coordinate system. The IO output must be defined as Read Only in parameters.
    Note:

    When the controller is restarted the world zone status will be set to outside during start-up. At first MOTORS ON after warm start the world zone status will be updated correctly.

    If the robot is moved during MOTORS OFF the world zone status will not be updated until next MOTORS ON order.

    Also a hard emergency stop (not SoftAS, SoftGS or SoftES) can result in an erroneous world zone status since the robot may move in or out of a zone during the stopping movement without the world zone signals being updated. The world zone signals will also in this case be correctly updated after a MOTORS ON order.

     NOTE! This is not a new behaviour. The world zone functionality has always behaved like this.

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