Workspace monitoring - just tool or the entire robot

I'm not sure if I had the same issue as you but I had a case where the A2-A3 joint could hit an overhead obstruction even if the tool was low down.

I solved it by using an axis specific work envelope to limit just axis 2 and 3.

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Cartesian workspace monitoring only monitors the active TCP entering or exiting the defined workspace. As the TCP is a point rather than a volume, this has limited utility for large, complex-shaped tools.

Axis workspace monitoring ignores Tool and Base data, and looks merely at realtime axis angles.

How do you specify the tool and base to be used for cartesian workspace monitoring?

It uses the current tool & base you are using ($tool, $base).

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If you choose "inside stop" when you configure the workspace, then the tcp point as well as the center of the wrist will be checked. If one of these points go into the specified volume, the robot stops. If you select "outside stop", then the robot will stop if the tcp is moved outside the volume. The wrist is not checked in that case.

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Quote from eusty

It uses the current tool & base you are using ($tool, $base).

Oh. Then it is almost impossible to use if the current base keeps changing.
I have a PnP app where the current base changes from pick location to place location and i was hoping to use workspace monitoring to indicate when the robot was inside each area. Sounds like i won't be able to do this.

I wrote that....but now I'm wondering!

It would make sense for the base to be $null_frame ...I need to check the manual!

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pretty sure it's $null_frame and active tool

Cartesian workspaces are defined relative to $WORLD frame.

You need saferobot, to make robot to understand the dimensions of your workpiece.

Most likely it is still much easier to define combination of axis for the working envelope to be allowed and not allowed.

I made a project with saferobots (kuka option) using both envelopes and safetyzones. Safe-option is used for protecting humans and software-based envelopes are for protecting robot itself of another robots and slidingdoors.

Changing status of cartesian envelopes from submit interpreter usually does the trick.

Even SafeRobot has limits on the complexity of the zone shapes it can handle. KSS 8.x supports the most complex shape, but even that's not terribly complex.