World zone and movement zone setting

Robot Controller
1

hi, I have a question about zone value about movement to a Home position /or a safe position:

WZSphDefInside,shHomePos,pHP.trans,50;

WZDOSetStat,wzHomePosInside,shHomePos,doIRBInHome,high;&nb sp;

/worldzone setting of home position “pHP”,

MoveJ pHP,v200,fine,AppliTool;

My question is: I want to reduce cycle time by reducing back and force time around home position movement. Thus if I set zone value =20:

MoveJ pHP,v200,z20,AppliTool;

Then after this command will it still have a world zone output?

What I mean is if it is possible that by fly point (zone value movement), robot can save time, with world zone detecting still working effectively.

2

Hi memphiss:

The world zone is still effective

cause the Sphere’s Radius you define is 50mm,the Zone Value is 20mm,

they are based on the same point pHP,it is apparent 20mm < 50mm,

So the TCP must enter the WorldZone you defined,and the signal doIRBInHome must be set out

what you have to do is to make sure that you set the zone value less than the Sphere’s Radius 50mm