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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 These control the size and shape of the envelope relative to around 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.
Optional step: Adjust the color of the safety envelope.
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.
Adjust the color of safety envelopes
Import a safety envelope from a CAD file
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