WzBoxDef

Robot Controller
1

Hi,

How is the sintaxe of WzBoxDef function?

The sintaxe down is error. Why?

Home_Low.x:=Pos_HOME.trans.x-25;
Home_Low.y:=Pos_HOME.trans.y-25;
Home_Low.z:=Pos_HOME.trans.z-25;
Home_High.x:=Pos_HOME.trans.x+25;
Home_High.y:=Pos_HOME.trans.y+25;
Home_High.z:=Pos_HOME.trans.z+25;
WZBoxDefInside,Shape_Home,Home_Low,Home_High;
WZDOSetStat,wz_Home_PosInside,Shape_Home,flag1,1;

2

I did like this

MODULE WZONE1(SYSMODULE)
! Event routine for POWER_ON
! Restore worldzone settings
! Do not translate or delete SYS_WZONE
! VAR shapedata volume;
VAR shapedata volume1;
VAR shapedata volume2;
VAR shapedata volume3;
VAR shapedata volume4;
! VAR shapedata volume5;
CONST pos C2:=[0,0,0];
CONST num R2:=1500;
CONST num H2:=3500;
PERS wzstationary wzstat1:=[2];
PERS wzstationary wzstat2:=[3];
PERS wzstationary wzstat3:=[1];
PERS wzstationary wzstat4:=[4];
! PERS wzstationary wzstat5:=[5];
! Palleter
! nedre hA?gra hA?rnet mot maskin 2
PERS pos pos1A:=[2700,3500,2000];
! A?vre VA?nstra hA?rnet mot maskin 1
PERS pos pos1B:=[-1400,1400,100];
! Maskin2
PERS pos pos4A:=[-1400,1300,650];
PERS pos pos4B:=[-300,2000,1800];
! Maskin1
PERS pos pos2A:=[900,750,650];
PERS pos pos2B:=[2500,1800,1800];

! PERS pos pos5b:=[-1000,1500,-100];
! PERS pos pos5a:=[11000,-1500,2000];
PROC SYS_WZONE()
! Robot homme
WZCylDef Inside, volume3, C2, R2, H2;
WZDOSetStat,wzstat3Inside,volume3,Zon3,1;

WZBoxDefInside,volume1,pos1A,pos1B;
WZDOSetStat,wzstat1Inside,volume1,Zon1,1;
WZBoxDefOutside,volume2,pos2A,pos2B;
WZDOSetStat,wzstat2Before,volume2,zon2,1;

WZBoxDefOutside,volume4,pos4A,pos4B;
WZDOSetStat,wzstat4Before,volume4,zon4,1;
! WZBoxDefInside,volume5,pos5a,pos5b;
! WZDOSetStat,wzstat5Inside,volume5,zon5,1;
TPWrite “ZON_OK”;
ENDPROC
ENDMODULE

and

CAB_EXEC_HOOKS:
-Routine “SYS_WZONE” -Shelf “POWER_ON” -Task “T_ROB1”

in Sys.cfg