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World Zone

sahars
sahars ✭
in RAPID Programming
Hi, how can I create world zone with fixed tool and robot holding the work object? I need to create a zone around the tool so when robot enters the zone set a DO to 1.

Answers

  • lemster68
    lemster68 ✭✭✭
    That is a tricky one.  The only thing that I think might work is WZHomeJointDef.  You would have to have really large Delta for the robot joints and it would take a lot of tries to get it effectively set.
    Lee Justice
  • sahars
    sahars ✭
    Thank you, unfortunately I need the box to be small and only around the fixed tool area.
  • mandolas
    mandolas ✭
    Hi...
    I didn't understand your position... Do you want the DO to activate when the robot or object enters the area?
    Good job!
  • sahars
    sahars ✭
    Hi, 
    My robot holds a part and I have a fixed nozzle, I need to create a world zone around the nozzle so when robot moves to that zone sets the DO to 1.
  • lemster68
    lemster68 ✭✭✭
    Why not just set the DO in the appropriate part of the program?  What is the purpose of setting this DO?
    Lee Justice
  • mandolas
    mandolas ✭
    Hi...
    To ensure that the workpiece does not collide with the stationary tool during the approach phase. The idea is to use the zone as a "virtual shield" for the workpiece:

    Zone Definition (The Target): Create the World Zone physically enclosing the stationary tool.

    Approach Tool (The Sensor): Create a temporary tool with the TCP at the tip of the workpiece (or on the part of the workpiece that is at risk of impact).

    Input Logic: The robot approaches with this temporary tool. As soon as the tip of the workpiece enters the zone, the signal turns on. This confirms that the workpiece has approached the fixed tool without colliding, allowing you to validate the position and/or reduce the speed before contact.

    Execution: With the workpiece safely positioned within the area, switch to the stationary tool and execute the rest of the process.

    Important Note: When switching to the stationary tool, the zone signal is likely to turn off (as monitoring shifts from the workpiece to the fixed TCP). However, it ensures that the part entered the perimeter of the fixed tool without collision.

    Test this logic. The focus here is to drastically minimize the risk of damaging the part or the tool upon the robot's arrival.

    Good job!

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