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1. With the robot loaded in the Cell tree, right-click the first joint in the robot, then select Create safety envelope for J1.

   

2. Enter a Shape extension and Shape type for the envelope. These control the size and shape of the envelope around the robot joint and link.

   

3. Click Apply to view your changes in the viewport.

4. 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.

   

5. Optional step: Adjust the color of the safety envelope. This can help make the envelope more visibleeasier to see.

   1. In the Cell tree, select the envelope.

   2. In the viewport, right-click the envelope, then click the color swatch next to Fill with color.

      

   3. Adjust ARGB values to pick a color. The A value controls the transparency of the envelope (for example, with an A value 50, the joint would be easily visible).

   4. Click [X] to exit the color picker, then select Fill with color on the context menu.

      

6. Repeat steps 1 - 5 to add safety envelopes for joints J2, J3, and J4.

   

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Once safety envelopes are added to joints, you can add them to collision groups for the cell. Only do this if you want the safety envelopes to cause an interference or collision in a part programming session.

1. In the Cell tree, select Cell.

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2. On the right, in Cell settings, select [+] next to Collision group pairs.

   

3. Select the Edit button for the collision group pair.

   

4. Enter a name for the collision group. You might enter a name like “Robot safety envelope.”

5. Select a type for the collision group. For a robot safety envelope, Interference is typically a good choice. Intereference is less strict than Collision in Robotmaster. Interference indicates to the programmer only that other physical objects may be too close to the robot.

6. Select a color. You may want to pick a different color than other Collision type collision groups, in order to easily differentiate them visually.

7. Drag the envelope items for J1 – J4 from the Available geometries pane to one side of the Pairs section.

   

8. Drag the items you want to flag for interference with safety envelopes to the other side of the Pairs section. For example, you might include cell components like tables and enclosures.

   

9. Select OK when you are finished.

10. Save your changes with the cell.

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