Difference between revisions of "MC-Basic:robot.ZMIN"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This value is used in the pre-computation phase of the robot Cartesian movements (MOVES, CIRCLE). It is used to prevent robot collisions with its own body (base column). | + | This value is used in the pre-computation phase of the robot Cartesian movements (MOVES, CIRCLE). Values of Xmin, Xmax, Ymin, Ymax, Zmin, Zmax allow definition of safe workspace area in World frame coordinates. These limits will be checked in addition to other robot space limitations such as joint pmin and pmax values and workspace radius limits (rmin and rmax). |
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| + | ZMin defines Z coordinate of the “lowest” robot position. No points below this plane are allowed. It is used to prevent robot collisions with its own body (base column). | ||
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{{Note/Important| | {{Note/Important| | ||
Always check the ZMIN value before configuring a new robot. | Always check the ZMIN value before configuring a new robot. | ||
Latest revision as of 08:30, 12 November 2025
| Language: | English • 中文（简体） |
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This value is used in the pre-computation phase of the robot Cartesian movements (MOVES, CIRCLE). Values of Xmin, Xmax, Ymin, Ymax, Zmin, Zmax allow definition of safe workspace area in World frame coordinates. These limits will be checked in addition to other robot space limitations such as joint pmin and pmax values and workspace radius limits (rmin and rmax).
ZMin defines Z coordinate of the “lowest” robot position. No points below this plane are allowed. It is used to prevent robot collisions with its own body (base column).
 | IMPORTANT |
|
Always check the ZMIN value before configuring a new robot. The attached devices and parameters not taken into robot setup could significantly reduce the robots working area! |
Syntax
<ROBOT>.ZMin = <numeric expression>
Availability
All versions
Type
Double
Range
0.1-maxdouble
Units
Mm
Default
Depending on the robot parameter
Scope
Configuration, Task, Terminal
Limitations
Read/Write, Modal Only
Examples
Zmin = 60