SetWorkZoneLimits#

This command defines a bounding box (a cuboid), the sides of which are parallel to the axes of the Base Reference Frame (BRF). The arguments of the command are the coordinates of two diagonally opposite corners, referred to as “minimum” and “maximum” corners, such that each coordinate of the minimum corner is smaller that the corresponding coordinate of the maximum corner.

Syntax#

SetWorkZoneLimits(x_min,y_min,z_min,x_max,y_max,z_max)

Arguments#

x_min, y_min, z_min: the coordinates of the minimum corner of the cuboid in the BRF, in mm;
x_max, y_max, z_max: the coordinates of the maximum corner of the cuboid in the BRF, in mm.

Default values#

This setting is persistent and retained after a power cycle (a reboot).

The factory default is x_min = y_min = z_min = –10,000 and x_max = y_max = z_max = 10,000. To reset the arguments to their factory default values, deactivate the robot and send the command SetWorkZoneLimits(0,0,0,0,0,0).

Responses#

[2166] [Workspace limits set successfully.]

Usage restrictions#

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

Cyclic protocols#

In cyclic protocols, the SetWorkZoneLimits command is represented by MotionCommandID 153. See Section 4.2 for more details.