Worldzones - ABB FlexLoader SC 6000 Product Manual

7 RAPID program

7.9 WorldZones

7.9 WorldZones
Some integrators prefer the use of WorldZones to verify the robots presence in
certain areas/volumes, and/or to block certain movements. FlexLoader SC 6000
offers predefined WorldZone handling in the module Common.sys.
The FlexLoader SC 6000 defined WorldZones are active in both jogging mode and
automatic mode.
The following zone is predefined and must be configured during commissioning.
The following zones are predefined for integrator convenience and can be
configured during commissioning.
The definition of these WorldZones can be changed by geometrical data defined
in Common.sys. After changing these values, the robot controller must be restarted
in order to activate the new definitions.
For further details, see
118
• forbiddenVolume: A zone that e.g. lies above the volume that the robot needs
for movements. Prevents the robot from moving through the forbidden
volume.
• safeVolume: The robot could be started from here directly. Connected to
DOF_SafeZone.
• machineVolume: Robot is outside of machine tool. Connected to
DOF_LoaderOut.
Common.sys on page
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Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D