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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.

    image-20240822-203334.png
  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.

    image-20240822-203525.png
  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.

    image-20240822-204026.png

    Note that safety envelopes in the Cell tree are indicated by an icon and are classified as safety envelopes in the right-click menu.

    image-20240822-205110.png
  5. Optional step: Adjust the color of the safety envelope. This can help make the envelope more visible.

    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.

      image-20240905-153845.png
    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.

      image-20240905-154909.png
  6. Repeat steps 1 - 5 to add safety envelopes for joints J2, J3, and J4.

    image-20240822-204243.pngImage Removedimage-20240905-173642.pngImage Added

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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