When is the corresponding output signal ON?

• A. When the TCP is inside the zone by Command Position only.
• B. When the TCP is inside the zone by Feedback Position only.
• C. When the TCP is inside the zone by either Command Position or Feedback Position.
• D. When any part of the robot is outside the zone.

Answer: (C)

The main idea is that the output turns ON as soon as the TCP is inside the defined zone, confirmed by either the commanded position or the actual feedback position. The system checks two sources: the Command Position, which is the position the robot is told to reach, and the Feedback Position, which is the position the TCP is actually occupying. If the TCP meets the zone criteria according to either of these checks, the output activates. This makes the signal robust to discrepancies between what is commanded and what the robot actually does, such as timing delays or small errors. Relying on only the commanded position could falsely indicate the TCP is in the zone when the real pose isn’t, while relying only on feedback could miss intended zone entries reflected in the command. Therefore, using either check to turn the signal ON provides the correct, safe behavior. If any part of the robot is outside the zone, that does not cause the output to turn ON.