MC-Basic:robot.ZMIN

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).

Defines  Z coordinate of the “lowest” robot position. No points below this plane are allowed.

 

Recommendation

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

AllVersions

Type

Double

Range

0.1-maxdouble

Units

Mm

Default

Depending on the robot parameter

Scope

Configuration, Task, Terminal

Limitations

R/W, Modal Only

Examples

Zmin = 60

See Also

• CONFIGGROUP
• MOVES
• robot.ZMAX