In industrial automation applications, robots are never isolated. They need to share the workspace with various peripheral devices to collaboratively complete complex production tasks. However, this “sharing” also brings new challenges—the risk of interference or even collision between robots and other devices.
1 Spatial Position Monitoring Function
When multiple robots or robots and peripheral devices need to share a workspace, the risk of interference arises. Traditional solutions often rely on program logic interlocks, which have limitations and cannot handle all unexpected situations.
ABB’s 3106-1 option—WorldZones for spatial position monitoring—provides a professional solution to these issues. This function allows for the setting of robot position monitoring areas during program execution and manual operation. If the TCP of the relevant robot touches the monitoring area, or if the relevant axis touches the monitoring area on the joint, a digital output signal is set or motion is stopped.
①Typical Application Scenarios
When the working areas of two robots partially overlap, the possibility of collision between the two robots can be minimized;
When there is a permanent obstacle or some temporary external device within the robot’s working area, a monitoring area can be created to prevent the robot from colliding with it;
Detecting whether the robot is in a safe home position
②Two Types of Areas
Wztemporary: A temporary global area that can be used at any position in the RAPID program, which can be disabled, re-enabled, or erased through RAPID instructions;
Wzstationary: A fixed global area that can only be used in PowerOn event routines. The fixed global area will always be active and cannot be disabled, enabled, or erased through RAPID instructions. If safety issues are involved, a fixed global area should be used.
③Four Types of Area Shapes
WorldZones provides flexible area definition methods
Rectangular: Suitable for regular space protection
Cylindrical: Suitable for surrounding device protection
Spherical: Suitable for all-around three-dimensional protection
Joint Area: Monitoring based on robot joint angles, with the highest precision
2 Practical Application: Detailed Explanation of Home Point Monitoring
Taking the most common home point monitoring as an example, this demonstrates the specific implementation method of WorldZones.
3 Application Expansion
The WorldZones function is not limited to home point monitoring; it also plays an important role in the following scenarios:
①Multi-Robot Collaboration
Setting monitoring areas in overlapping workspaces ensures that only one robot enters the shared space at any time.
②Human-Robot Collaboration Safety
Setting protective monitoring in areas where personnel operate, immediately slowing down or stopping the robot when it approaches.
③Precision Equipment Protection
Setting permanent protective areas around expensive or precision equipment to prevent accidental collisions that could cause damage.
Conclusion
The spatial position area monitoring is an important technology for the safe application of industrial robots, providing reliable assurance for safe equipment collaboration. Through reasonable configuration and use, it can significantly reduce safety risks in the production process and improve system reliability. Whether for new projects or upgrades of existing equipment, it is worth considering the introduction of spatial position monitoring functions. Safety is always the most important issue in the field of automation.
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