Procedural topic:
How to create safety envelopes
Set up safety envelopes in collision (groups?)
Audience: Partners
This article discusses the procedure for creating safety envelopes around a robot when setting up a cell in Robotmaster. It also covers the procedure for adding the safety envelopes to collision groups.
Safety envelopes are used to create an extra buffer zone around robot components. This They can be used for collision detection and is visible as a visual reference when programming trajectories for a job in Robotmaster.
The following procedure assumes that a cell is already created and a robot is already loaded in it.
Create a safety envelope for a robot
With the robot loaded in the Cell tree, right-click the first joint in the robot, then select Create safety envelope for J1.
Enter a Shape extension and Shape type for the envelope. Shape extension controls the size of the envelope relative to the robot joint and link.
Click Apply to view your changes in the viewport.
Click OK to keep your changes. The safety envelope will be added to the Cell tree.
Note that safety envelopes in the Cell tree are indicated by an icon and are classified as safety envelopes in the right-click menu.
Repeat steps 1 - 4 to add safety envelopes for joints J2, J3, and J4.
Depending on your robot model, joints J5 and J6 may not need safety envelopes. Safety envelopes for J5 and J6 could overlap one another and also extend into toolings mounted at the end of the robot.
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Import a safety envelope from a CAD
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file
If the standard Robotmaster safety envelope shape types can’t be usedare not sufficient, you can import CAD files of safety envelopes and assign it as a safety envelopethem to a joint.
If the built in Robotmaster safety envelope generation is not sufficient for user needs, imported CAD can be made a child of a robot joint, and then changed into a safety envelope object type.
(insert procedure)
Add safety envelopes in collision groups
Once safety envelopes are
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