The hits just keep on coming....
My latest issue with retrofitting SafeOp into these KRC2s (KSS 5.5.15, SafeOp 2.1) is the Cartesian Monitoring Spaces.
Long story short, despite the fact that these KL1500s are completely kinematically integrated, the SafeRDC is, as far as I can tell, measuring the Cartesian Space from $ERSYSROOT, not from $WORLD.
I determined this by parking my safe tool ~500mm from the edge of the Cell Area (Monitoring Space 1), switched into World, and began jogging E1 away from the edge of the monitoring space. The TCP remained fixed in physical space, and in the Robot Cartesian Position monitor. But, at the same time, in the SafeOp Monitor, I could see the Safety Tool's sphere moving towards the edge of MS1. After ~500mm of jogging E1, the robot was halted by a space violation on MS1.
I repeated the test using MS2 (temporarily expanding MS1 out to 100m), and got the same result.
I have A1-A6 and E1 assigned to Reference Group 1, and they've been successfully run through Mastering Reference.
I've gone back and re-read the entire Cartesian Space section of the SafeOperation 2.1 manual, and external axes aren't mentioned at all. Honestly, until I ran into this today, it never occurred to me that this might be an issue.
Is this version of SafeOp simply not capable of handling a KL-mounted robot with Cartesian spaces? Or are there extra steps I need to go through to make this work?