I am working with a CBR 15000 (GoFa) on OmniCore C30 with SafeMove in RobotStudio, and I am trying to create a safe zone that stays aligned to world Z / gravity, instead of following the robot base mounting angle.
The robot is installed with a slight tilt, which is also reflected in the configuration. When I create the zone, it is tilted by the same amount as the robot mounting, and the zone itself cannot be rotated. The World reference option is greyed out and has text “Not Compatible”. The task frame is the same as robot base frame. How do I change/add a reference to get the safe zone in the world reference system?
I’d like to use the zone for Tool Force Supervision and similar supervision functions.
- Robot: CRB 15000-5
- Controller: OmniCore C30
- RobotWare: 7.21
- SafeMove: [version]
Thanks,
Emil
World/UCS being greyed out is by design on OmniCore. Those refs aren’t supported for GoFa in the current SafeMove build.
Workaround: define a Task Frame that cancels out your mounting tilt. If your base is tilted +8° around X, create a Task Frame at -8° around X relative to the robot base. That gives you a gravity-aligned frame to reference the zone against.
Go to Controller > Configuration > Motion > Task Frame, add the frame there, then pick it in SafeMove as the coordinate reference for your zone. Re-download and run full safety validation after.
Bonus: same frame works for Tool Force Supervision Z-direction too, so your force thresholds will align to gravity, not the base.
Thank you for your reply. Looking at Controller > Configuration > Motion > there is nothing called “Task Frame”.
Under the Controller → Virtual Controller → there is a button for “Modify Task Frames”, but it is greyed out with no explanation. I can only attach one screenshot per message, so I’ll attach in the next one.
Any ideas?
With write access as administrator:
Hi Emil
Once you’re in Modify Task Frames, create a frame that cancels your mounting tilt (e.g. if base is +8° around X, set the Task Frame to -8° around X). Then in SafeMove zone properties, pick that Task Frame as your coordinate reference. World/UCS being greyed out is intentional on OmniCore GoFa Task Frame is the supported path per the SafeMove OmniCore manual (3HAC066559-001).
Also worth setting Gravity Alpha in Controller → Configuration → Motion → Robot to your tilt in radians.
covered in the CRB 15000 product manual (3HAC077389-001, page 55).
Re-download and run safety validation after. Should do it!
Hi Meraj, as noted this option “Modify Task Frame” is greyed out and as such cannot be configured. Screenshot is from a virtual controller, but can’t access it on a live system either.
Do you know how to make this option accessible?
And since it is under “Virtual Controller” would this setting even apply to a live system?
Thanks for you help,
Emil
