Zone property of a Move-command

RobotStudio
1

Hi there!

I was experimenting with the Zone field of the move command. Sometimes I understand what’s happening, but then again there are cases where I have no clue…

To my understanding, the figure after “z” depicts the radius in which the robot is allowed to deviate from the original path.
I have 4 points at 0/0/0, 0/50/0, 50/50/0 and 150/50/0
My 1st path is
MoveJ point1 z0
MoveL point2 z50
MoveL point3 z50
MoveL point4 z0
It starts exactly at z0, then cuts round corners in an S-shape around point2 and 3 and ends at point4. This works totally as expected. The radius of z50 is too big and the actual radius decreases to a value. (point1 is all the way to the right, point2 is the next one to the left, then point3 and 4)

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However if I switch the Zone of point3 to z0 I’d expect the curve to cut a big corner around point2 and the end up exactly at point 3.

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Can someone explain this to me?

Cheers,
Toby

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2

Hi Toby,

The actual zone is never bigger than half the distance to the previous or next target. So in this case it will be 25mm even though you specified z50.

You can can turn on visualization of either programmed or actual zones in the path context menu/ribbon.

Regards,
Johannes

3

Hi Johannes,

thanks a lot for the quick reply :slight_smile:
The tip about the visualization is also very useful!

Cheers,
Toby