SetWorkZoneCfg#

This command specifies the “event severity” for the work zone limits supervision and the robot parts that need to be verified.

Syntax#

SetWorkZoneCfg(l,m)

Arguments#

  • l: integer defining the work zone breach detection event severity as

    • 0: silent (i.e., work zone breach is verified but no action is taken, other than to log them internally);

    • 1: generate a warning (message [2183]) every time a new imminent work zone breach is detected;

    • 4: generate a warning (message [2183]) and a motion error (message [3049]) every time a new imminent work zone breach is detected.

  • m: integer defining the work zone breach verification mode as

    • 1: verify whether the FCP (Flange Center Point) is inside the work zone;

    • 2: verify whether the tool is completely inside the work zone (tool is the tool sphere defined with the SetToolSphere command);

    • 3: verify whether the tool AND all robot links are completely inside the work zone.

Default values#

This setting is persistent and retained after a power cycle (a reboot). It is restored to its factory default after a complete factory reset of the robot.

The factory default is l = 4 (generate a warning and motion error) and m = 1 (verify FCP).

Responses#

  • [2164] [Work zone configuration set successfully.]

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

In cyclic protocols, the SetWorkZoneCfg command is represented by MotionCommandID 152. See Section 4.2 for more details.