# \#gofa **URL:** https://tech-community.robotics.abb.com/tag/gofa/60.md [Latest](https://tech-community.robotics.abb.com/latest.md) · [Categories](https://tech-community.robotics.abb.com/categories.md) · [Tags](https://tech-community.robotics.abb.com/tags.md) --- ## [SafeMove zone in World reference on robot mounted at an angle](https://tech-community.robotics.abb.com/t/safemove-zone-in-world-reference-on-robot-mounted-at-an-angle/14907)
**Author:** [@Emil\_Holst\_Larsen](https://tech-community.robotics.abb.com/u/Emil_Holst_Larsen)\ **Replies:** 6\ **Last updated:** [May 11, 2026, 2:32pm UTC](https://tech-community.robotics.abb.com/t/safemove-zone-in-world-reference-on-robot-mounted-at-an-angle/14907 "2026-05-11T14:32:49Z")
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 r… --- ## [GoFa, FCLoadId and FCGetForce](https://tech-community.robotics.abb.com/t/gofa-fcloadid-and-fcgetforce/11971)
**Author:** [@hcostelha](https://tech-community.robotics.abb.com/u/hcostelha)\ **Replies:** 3\ **Last updated:** [October 16, 2025, 2:01pm UTC](https://tech-community.robotics.abb.com/t/gofa-fcloadid-and-fcgetforce/11971 "2025-10-16T14:01:04Z")
Hi, I need to get the center of mass and load of a tool, in order to use Force Control on a GoFa. However, when I run the FCLoadId function, it fails stating “The identified mass is 0 (kg), load too small or sensor conf… --- ## [How do I connect and control IRB 4600 with GoFa CBR 15000 over Profinet?](https://tech-community.robotics.abb.com/t/how-do-i-connect-and-control-irb-4600-with-gofa-cbr-15000-over-profinet/12046)
**Author:** [@AndySEAMK](https://tech-community.robotics.abb.com/u/AndySEAMK)\ **Replies:** 0\ **Last updated:** [October 7, 2025, 8:15am UTC](https://tech-community.robotics.abb.com/t/how-do-i-connect-and-control-irb-4600-with-gofa-cbr-15000-over-profinet/12046 "2025-10-07T08:15:51Z")
Setup: Robot 1: ABB GoFa CBR 15000 Robot 2: ABB IRB 4600 (connected to OmniCore V250XT) IFM AL1300 Io-Link Master Goal: Robot 2 picks up and holds a nut plate. Robot 1 changes tool to a screwdriver, selects … --- ## [Analytical Inverse kinematics solution for ABB GoFa CRB 15000](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903)
**Author:** [@moreuser25](https://tech-community.robotics.abb.com/u/moreuser25)\ **Replies:** 2\ **Last updated:** [May 8, 2025, 7:46pm UTC](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903 "2025-05-08T19:46:18Z")
Hello everyone. I am not a robotics expert (I barely know the DH notation), but if I am not mistaken the inverse kinematics of a manipulator with a spherical wrist, i.e. with the last three joint axes intersecting, has … --- ## [How to Setup EGM Client on Virtual Controller for CRB15000 GoFa](https://tech-community.robotics.abb.com/t/how-to-setup-egm-client-on-virtual-controller-for-crb15000-gofa/11615)
**Author:** [@wals](https://tech-community.robotics.abb.com/u/wals)\ **Replies:** 0\ **Last updated:** [September 19, 2024, 9:01am UTC](https://tech-community.robotics.abb.com/t/how-to-setup-egm-client-on-virtual-controller-for-crb15000-gofa/11615 "2024-09-19T09:01:55Z")
Hi, I would like to set up an EGM client on a virtual controller for CRB15000 GoFa. The EGM client should communicate with an EGM server running on another laptop. My Windows laptop, on which the virtual controller is … --- ## [Motion data missing after RobotWare 7.10.0 update](https://tech-community.robotics.abb.com/t/motion-data-missing-after-robotware-7-10-0-update/11206)
**Author:** [@Xiveid](https://tech-community.robotics.abb.com/u/Xiveid)\ **Replies:** 3\ **Last updated:** [July 4, 2024, 2:43am UTC](https://tech-community.robotics.abb.com/t/motion-data-missing-after-robotware-7-10-0-update/11206 "2024-07-04T02:43:11Z")
After updating my Robotstudio and RobotWare to the latest versions (RobotWare - 7.10.0), “Motion data missing” error appeared. I suspect that it might be versions incompatibility (previous RobotWare version is 7.8…). Con… --- ## [3D Printing with integrated extruder and Safety Controller Collaborative](https://tech-community.robotics.abb.com/t/3d-printing-with-integrated-extruder-and-safety-controller-collaborative/11453)
**Author:** [@hcostelha](https://tech-community.robotics.abb.com/u/hcostelha)\ **Replies:** 2\ **Last updated:** [May 24, 2024, 11:24am UTC](https://tech-community.robotics.abb.com/t/3d-printing-with-integrated-extruder-and-safety-controller-collaborative/11453 "2024-05-24T11:24:51Z")
Hi, We are currently planning to buy a GoFa (CRB 15000 10 kg 1.52m) and one of the experiments we will be doing is 3D Printing, including using the 3D Printing PowerPack from ABB. One of the options we were considering … --- ## [How to upgrade to newest version of Wizard and run on Virtual Controller?](https://tech-community.robotics.abb.com/t/how-to-upgrade-to-newest-version-of-wizard-and-run-on-virtual-controller/10754)
**Author:** [@jerittwilliams](https://tech-community.robotics.abb.com/u/jerittwilliams)\ **Replies:** 1\ **Last updated:** [June 14, 2022, 10:35am UTC](https://tech-community.robotics.abb.com/t/how-to-upgrade-to-newest-version-of-wizard-and-run-on-virtual-controller/10754 "2022-06-14T10:35:44Z")
Despite installing latest version of Wizard add-in (v1.4.x as of June 2022), creating a virtual controller, for example, always defaults to v1.3.0. I cannot find any documentation to show how to ensure use of the latest … --- ## [What is the price of the new cobot GoFa?](https://tech-community.robotics.abb.com/t/what-is-the-price-of-the-new-cobot-gofa/10289)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 0\ **Last updated:** [July 14, 2021, 9:18am UTC](https://tech-community.robotics.abb.com/t/what-is-the-price-of-the-new-cobot-gofa/10289 "2021-07-14T09:18:43Z")
The price of the new cobots is listed on online webshop as well as on the new cobot website.