# Using WorldZones on S4Cplus controller **URL:** \ **Category:** RAPID Programming\ **Created:** [November 8, 2019, 12:31pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192 "2019-11-08T12:31:45Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![Serge\_T](https://avatars.discourse-cdn.com/v4/letter/s/f05b48/32.png) [@Serge\_T](https://tech-community.robotics.abb.com/u/Serge_T)\ **Post date:** [November 8, 2019, 12:31pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/1 "2019-11-08T12:31:45Z")
Hi, I’ve recently had a pleasure to work with an S4Cplus controller where I was tasked with creating a WZ at a safe position and turn an ouput on when the robot enters it. Ive created a .sys module with my routine in there. Then i’ve linked the routine to a power on event using the pendant. So far nothing out of the ordinary in comparison with the new controllers, but somehow the output just wont turn on. Any ideas?? I’ve included the controllers backup [BACKUP.7z](https://tech-community.robotics.abb.com/uploads/short-url/ocHT6sb0p4m6LMfdAjVy6AMr97Z.7z) (35.6 KB) ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [November 10, 2019, 8:11am UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/2 "2019-11-10T08:11:41Z")
Sorry no use regards the world zone - but just a note that World Zones are not safety rated (if the safe position is in relation to people not machines). ---
**Author:** ![Serge\_T](https://avatars.discourse-cdn.com/v4/letter/s/f05b48/32.png) [@Serge\_T](https://tech-community.robotics.abb.com/u/Serge_T)\ **Post date:** [November 11, 2019, 10:17am UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/3 "2019-11-11T10:17:31Z")
My ‘safe position’ refers to a specific point where the robot goes where it is safe from any moving obstacles. So nothing to do with any actual safety. ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [November 11, 2019, 7:21pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/4 "2019-11-11T19:21:17Z")
Is the output read only? ---
**Author:** ![Serge\_T](https://avatars.discourse-cdn.com/v4/letter/s/f05b48/32.png) [@Serge\_T](https://tech-community.robotics.abb.com/u/Serge_T)\ **Post date:** [November 11, 2019, 7:23pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/5 "2019-11-11T19:23:48Z")
Yes ---
**Author:** ![j\_proulx](https://avatars.discourse-cdn.com/v4/letter/j/8c91f0/32.png) [@j\_proulx](https://tech-community.robotics.abb.com/u/j_proulx)\ **Post date:** [November 13, 2019, 1:13pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/6 "2019-11-13T13:13:25Z")
The WZ output does not come on until the motors are turned on. ---
**Author:** ![j\_proulx](https://avatars.discourse-cdn.com/v4/letter/j/8c91f0/32.png) [@j\_proulx](https://tech-community.robotics.abb.com/u/j_proulx)\ **Post date:** [November 13, 2019, 1:13pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/7 "2019-11-13T13:13:45Z")
The WZ output does not come on until the motors are turned on. ---
**Author:** ![Serge\_T](https://avatars.discourse-cdn.com/v4/letter/s/f05b48/32.png) [@Serge\_T](https://tech-community.robotics.abb.com/u/Serge_T)\ **Post date:** [November 13, 2019, 3:56pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/8 "2019-11-13T15:56:48Z")
I am fully aware of the fact. But I have trouble seeing the output when the robot is in motion and entering the zone ---
**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:** [December 16, 2019, 2:02pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/9 "2019-12-16T14:02:13Z")
If your zone is small, and the robot passes through it, not pausing, then it is possible that it will not turn on. Refer to the manuals, they have good documentation and illustrations regarding this matter. ---
**Author:** ![Serge\_T](https://avatars.discourse-cdn.com/v4/letter/s/f05b48/32.png) [@Serge\_T](https://tech-community.robotics.abb.com/u/Serge_T)\ **Post date:** [December 16, 2019, 2:05pm UTC](https://tech-community.robotics.abb.com/t/using-worldzones-on-s4cplus-controller/9192/10 "2019-12-16T14:05:26Z")
My WorldZone is 300mm in radius, do check the backup i’ve included with the question