SafetyConfiguration.sconf

    Hi,


    I would like to be able to add joint position, velocity and torque safety limits to the IIWA. For a bit of context: I am running the robot in AUT mode
    whilst sending torques via the FRI. I would like to have safety values set up in order to not blow a fuse when I do something bad, but rather have the robot
    just stop.


    When I go into the safety configuration option on Sunrise I am unable to add more than 3 axes to the workspace limit. This is because
    I only have only three instances for some reason which act as group. I have attached a few pictures of what I did to add axis limits.


    Also I seem to have have the option to add joint velocities.


    Any help is welcome

    For this purpose it is sufficient to use the collision detection AMF. If the robot is to be used in a production enviroment the you need to do risk assessment and probably use more safety functions.

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