Issue with WZDOSet

Robot Controller IRC5
1

Hello everybody,

I have a problem with the execution of the WZDOSet instruction here under.
The routine is an event routine linked with POWERON
So the WZDOSet is define at the start of the controller.
At the beginning of my program I checked the position of the doSafeZoneHome status, to be sure that the robot is in a safe pHome positon.

The problem is that at the tart of my program, the PLC send me the MotorOn and PPtoMainAndStart commands. After this, even if the robot is @ the pHome position, the Output doSafeZoneHome is still at 0.
If I move the robot manually and put it @ , doSafeZoneHome change to 1.
If I move to Auto, MotorOn and PPtoMainAndStart, the robot doesn’t move from pHome and doSafeZoneHome change to 0.

PERS wzstationary wzstatSafeZoneHome:=[1];

PROC SafeHome()

VAR shapedata SphereSafeHome;
CONST pos pPoseHome:=[pHome.trans.x,pHome.trans.y,pHome.trans.z];
CONST num nRadius:=50;
!*************************************
WZSphDef\Inside,SphereSafeHome,pPoseHome,nRadius;
WZDOSet\Stat,wzstatSafeZoneHome\Inside,SphereSafeHome,doSafeZoneHome,1;
!*************************************
ENDPROC

Any idea ?

Thanks

2

Hi,

I solved it by moving out of the Sphere and back inside at the beginning of my program.

3

In my experience signals set with World Zones do not enter the appropriate state (for my installs a digital output to 1) until motors are on after a cycling power.