Program Examples: WorkSpace areas
Introduction
This feature limits robot movements inside defined WorkSpaces areas and at specific paths between them. Each WorkSpaces is modeled by users as a rectangular prism in 3D space with entry and exit points, which defined in *.XML file.
Robot is considered to be inside WorkSpaces if its TCP (Tool Center Point) is within the prism and outside WorkSpaces if its TCP is outside the prism.
In case user tries to move the robot outside WorkSpaces using unauthorized path an error will raise and motion wont be started.
 | NOTE |
| Robot segments are not considered |
WorkSpace Properties
WorkSpaces are cuboids defined by its four vertex points:
- Origin (O)
- Width (W)
- Length (L)
- Height (H)
The cuboid can have any orientation in space. The coordinates of the cuboid are given in WorkPiece coordinates of the robot TCP (including tool).
Cuboid parameter defines relative to WorkSpace origin:
- O = #{X,Y,Z,Yaw,Pitch,Roll} - location
- L = O:#{0,WSCPL,0,0,0,0}
- W = O:#{WSCPW,0,0,0,0,0}
- H = O:#{0,0,WSCPH,0,0,0}
When WSPCL = WorkSpace length, WSPCW = WorkSpace width, WSPCH = WorkSpace height.