ABB FlexMT, Product Manual, Page: 109 / 246

5.9 WorldZones
Some users prefer the use of WorldZones to verify the robots presence in certain
areas/volumes, and/or to block certain movements. FlexMT offers predefined
WorldZone handling in the module Common.sys.
The FlexMT defined WorldZones are active in jogging mode and automatic mode.
The following zone is predefined and must be configured during commissioning.
• ForbiddenZone: A zone that e.g. lies above the area that the robot needs to
move. Prevents the robot moving through this zone.
The following zones are predefined for the user convenience and can be configured
during commissioning.
• SafeZone: The robot could be started from here directly. Connected to
DOF_SafeZone.
• HomeZone: Indicates robot home position. Connected to DOF_HomeZone.
• MachineZone: Robot is outside of machine tool. Connected to
DOF_LoaderOut.
The geometrical 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.
3HAC051768-001 Revision: - 109
© Copyright 2014-2014 ABB. All rights reserved.
5 Robot program
5.9 WorldZones