You can define a region required by the robot to safely perform a set of tasks, or any
tasks with a selected tool. This safety envelope can be 2D on any plane to be marked as a safe
zone, or a 3D volume that can be used to optimize other resource tasks.
From the Setup section of the action bar, click Safety Envelope.
The Safety Envelope dialog box appears.
Select one or more devices or tasks.
Selected tasks appear in the Resource tasks
list.
Select the Resolution level for each selected task.
Fine is the most accurate, but requires more time to
compute.
Medium is accurate while optimizing computation time..
Coarse is slightly less accurate, but requires the least
computation time.
Enter a Pinch Free Zone for each task.
Entering a positive value for the Pinch Free Zone creates
another safety envelope at the specified value from the original safety envelope.
When a Swept Volume exists for a given task, you can choose to
select it to use the swept volume during computation of the safety envelope.
Optional:
Click Remove task to remove a selected task from the
Resource tasks list when necessary.
In the Options section, you can define the following
behaviors:
Project To: determines which planes you want the selected robot
task’s safety envelope to be generated in. Multiple planes may be selected, and you can
use the color chooser to define the color of the safety envelope. Safety envelope created for only the XY Plane Safety envelope created for all planes (XY, YZ, ZX)
Show robot base circle on XY Plane adds a base circle
representation on the computed XY Plane of the safety envelope.
Show line from robot base to TCP on XY Plane adds a line
representation from the base of the robot to the TCP on the XY Plane of the safety
envelope.
Example of robot base circle and line to TCP
Click OK to create the safety envelopes and close the
Safety Envelope dialog box.
Safety envelopes appear in the work area as
shown above, as well as in the tree.
.
The Safety Envelope dialog box appears.
