SafeMove zone in World reference on robot mounted at an angle

Collaborative Robots
1

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.

  1. Robot: CRB 15000-5
  2. Controller: OmniCore C30
  3. RobotWare: 7.21
  4. SafeMove: [version]

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Thanks,

Emil

3

Thank you for your reply. Looking at Controller > Configuration > Motion > there is nothing called “Task Frame”.

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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?

4

With write access as administrator:

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6

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?

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Thanks for you help,

Emil

7

Update, I managed to align the Safe zone to the cell/world by modifying the robot base frame parameter in Configuration → Motion → Robot.

However, now all my cartesian moves are shifted. If anyone has a better solution, please shout :folded_hands: