Installation and Commissioning

Advanced Functions 3.1World ZonesA spherical, cylindrical or cubical volume can be defined within the working space.When the robot reaches this volume it will either set an output or stop with the errormessage “Outside working range”, both during program execution and when the robotis jogged into this area. The areas, which are defined in the world coordinate system,can be automatically activated at start-up or activated/deactivated from within theprogram.Examples of applications:- A volume is defining the home position of the robot.When the robot is started from a PLC, the PLC will check that the robot isinside the home volume, i.e. the corresponding output is set.- The volume is defining where peripheral equipment is located within the workingspace of the robot.This ensures that the robot cannot be moved into this volume.- A robot is working inside a box.By defining the outside of the box as a forbidden area, the robot cannot run intothe walls of the box.- Handshaking between two robots both working in the same working space.When one of the robots enters the common working space, it sets an output andafter that enters only when the corresponding output from the other robot isreset.Product Specification RobotWare for BaseWare OS 3.1 13