# About the WZLimSup

**URL:** <https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119>\
**Category:** RobotStudio\
**Tags:** wzlimsup, robotstudio, rapid\
**Created:** [March 1, 2018, 4:21am UTC](https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119 "2018-03-01T04:21:41Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![haining](https://avatars.discourse-cdn.com/v4/letter/h/73ab20/32.png) [@haining](https://tech-community.robotics.abb.com/u/haining)\
**Post date:** [March 1, 2018, 4:21am UTC](https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119/1 "2018-03-01T04:21:41Z")

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Hello,  
I have a question about WZLimSup instruction . If I want to limit the robot work within a safety fence without touching the border, I can define the size of the box, but here comes a question, when robot near the border, different orientation with different TCP may trigger the supervision . So how can I avoid wrong triggers, or just decrease the size of the box?  
Thank you!

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [March 1, 2018, 2:02pm UTC](https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119/2 "2018-03-01T14:02:09Z")

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Maybe this will better suit what you need to do, WZLimJointDef. Check it out in the manual.

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**Author:** ![sturner](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/sturner/32/3432_2.png) [@sturner](https://tech-community.robotics.abb.com/u/sturner)\
**Post date:** [March 6, 2018, 1:16pm UTC](https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119/3 "2018-03-06T13:16:50Z")

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WZLimSup will work with the **active** TCP ! so if you are orientating about the TCP, the robot wrist / tool body, could move beyond in / out of a defined volume. lemster68 is correct maybe WZLimJointDef would be better in avoiding this problem

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**Author:** ![soup](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/soup/32/1592_2.png) [@soup](https://tech-community.robotics.abb.com/u/soup)\
**Post date:** [March 6, 2018, 2:16pm UTC](https://tech-community.robotics.abb.com/t/about-the-wzlimsup/8119/4 "2018-03-06T14:16:45Z")

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Got SafeMove?