Know when robot is violating an inactive safezone?

RobotStudio
1

Is there any way to tell if the robot is currently inside an inactive safezone?

I’d like to activate a safezone as soon as the robot is clear of this safezone. The customer does not want a fine point just outside of the safezone nor a redundant world zone.

2

Hello,
You have to make two supervisions per zone.
One activated by Safety signal doing Stop without signal output.
Other permanently active with NoStop action with Safety Signal output.