Setting up World Zones for IRC5

Robot Controller
1

Hi All,

I’m having a terrible time setting up world zones for two new IRC5 6600.
I have set up world zones before on M98 S4C’s. I want to setup a sphere around my home position and a box around the work pieces. I have used the WZSphDef and WZDOSet commands for the home position to no avail.

Here is the actual code.

WZSphDefInside, shHome, Home.trans, nRadHome;
WZDOSetTemp, wzhomeInside, shHome, R1_Home, 1;

This code is in PROC wz_PowerOn() which is in user.sys.
I have attempted to set-up wz_PowerOn as an event routine that runs in the background, but I don’t know if I am being successful.

We are getting close to crunch time (naturally), and I am at the end of my rope.

Any help will be greatly appreciated.

2

Hello,

You probably forgotten one thing, I gess.

When you create a world zone, you need to connect the routine to an event, such as POWER ON, START…

You can make it in system parameters, SYS.cfg.

Here is an example..

* World Zone routine*

PROC rHomePos()
WZSphDefInside,shapeHome,pos1,50;
WZDOSetStat,wzHomeInside,shapeHome,do09_HomePos,1;
ENDPROC

** SYS.CFG **

CAB_EXEC_HOOKS:

-Routine “rHomePos” -Shelf “POWER_ON” -Task “T_ROB1”

Regards,

3

Thanks, but I had that right. My mistake was that in the wztemporary
and wzstationary datatypes I had the exact same zones names. This generated an error upon start-up and completely threw me off.