I need to set up a stationary world zone on an ABB4400 S4c. It appears to have the same function as a CUBE on a Motoman, which I am very familiar with. I am trying to work from the manual that I have but I seem to be missing a step. It doesn't tell me how to get to the selections that I need to change. I am attempting to create an interlock so that the robot will cease hitting a moving slide. Any assistance would be greatly appreciated. Thanks, Eric