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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. They can be used for collision detection and as a visual reference when programming 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

  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.

  6. Repeat steps 1 - 4 to add safety envelopes for joints J2, J3, and J4.

    image-20240822-204243.png

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

If the standard Robotmaster safety envelope shape types are not sufficient, you can import CAD files of safety envelopes and assign them to a joint.

Select [+] and then Import CAD file.

image-20240905-145842.png

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)

Possible note: Safety envelopes around end of arm toolings?

Add safety envelopes in collision groups

Once safety envelopes are

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