Workspace Monitoring

The origin is the robot base and the coordinates is the TCP-s position I the robot base (world coordinate system)

Quote from bneill93

I am trying to set up a workspace that I can monitor and when the robot gets outside of the workspace it will stop the robot. My question is when setting up the workspace what is the origin? tcp or robot base?

I think this could be configured in the Wov, double click safety control of the hardhare view tree, You can set up the origin, distance to origin and also the reference system

Hello,

I am working with WorkVisual 4.0 controller is KRC4 Compact KSS 8.3.17 and Robot is KR C 6 r700 sixx, I want to add cartisian workspace monitoring in work visual project. I have searched for the options in safety control but there is no option for setting up workspace.

Thanks!

Thats probably because you did not buy the SafeOperation Option from KUKA. Do you really need safe workspaces? Non-safe Workspace can be programmed inside the HMI -> Configuration -> Miscellanous -> Workspace Monitoring -> Configuration.

Fubini

Are you using SafeOperation or not?

SafeOperation is required to use safety-rated workspace monitoring. If you are simply using "Stock" workspace monitoring (which is a different thing entirely), that is not safety-rated, and is not accessible under the Safety Configuration. The settings are under CONFIGURATION>MISCELLANEOUS>WORKSPACE MONITORING.

I am not using SafeOperation as we are using the robot at low speed for training purpose, The workspace monitoring outputs are used to show the concept of workspace. I know how to configure it with HMI. I want to know if its possible with WoV without SafeOperation

There is no visualization of workspaces in WOV.
Meaning no drop down menus to configure it same way as you do on SmartPad.
But you do have access to all system variables that are used to configure workspaces.

During workspace define...

Origin is what is sane as home coordinates value..suppose X= -1233.4 Y=944.23 Z=233.45

A=179.90 B=0.21 C=-179.29

This is the origin or i need to add the origin of the all 0