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Disable stationary world zones in manual mode

dragolollo
dragolollo ✭
edited November 2022 in RAPID Programming
Hello,

Is there a way to disable stationary world zones when I'm jogging the robot?
Eventually, it would be good even if the world zones are temporary but they have to behave as stationary when I'm not jogging (I think I can relate their definition to the events power on, start and restart to do so).
Thank you a lot!
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Comments

  • lemster68
    lemster68 ✭✭✭
    I don't think that you can.  What does your world zone do?  Prohibit jogging or set/reset an output?
    Lee Justice
  • jmf
    jmf ✭
    lemster68 said:
    I don't think that you can.  What does your world zone do?  Prohibit jogging or set/reset an output?
    What if he confirms the operation mode with OpMode() in the event routine before disabling/enabling the WZ? 
  • dragolollo
    dragolollo ✭
    edited November 2022
    The world zones should avoid the robot to enter them.
    I did something that seems to work, just I'm a bit worried it can give some troubles I haven't thought about. 
    I have defined a routine event WzDef() connected to Start and Restart, and a WzDisable() connected to Stop and QuickStop:


    PROC WzDef()
     WZBoxDef \Inside, volume, p1_pallet_sx_over, p2_pallet_sx_over;
     WZLimSup \Temp, Pallet_Sx_Over, volume;
     WZEnable Pallet_Sx_Over;
     WZBoxDef \Inside, volume,p1_pallet_sx_rigth, p2_pallet_sx_rigth;
     WZLimSup \Temp, Pallet_Sx_Rigth, volume;
     WZEnable Pallet_Sx_Rigth;
    ENDPROC

    PROC WzDisable()
     WZFree Pallet_Sx_Over;
     WZFree Pallet_Sx_Rigth;
    ENDPROC

    Maybe do you see some possible issues in this solution?
    Post edited by dragolollo on

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