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