Cartesian Workspace Monitoring Z Origin Issues

    Sunrise Controller

    Robot: KUKA iiwa 7 R800

    OS: Windows 10

    Sunrise Workbench: 1.16.2.16

    WorkVisual: 5.0.5/Build0600 (with Sunrise.kop: 1.3.15.0)

    I am currently trying to configure a workspace monitoring AMF in the safety config. I am trying to the Z Origin to be -19mm (which was previously working), but can only go to about -90. When I jog the robot to -90 it is triggered. However, if I change the Z Origin to -80mm (not even -19) I get an error no matter where the robot is. Anyone else have this issue, or know what it could possibly be?

    *My computer wouldn’t let me save a screenshot... so I had to take a photo of my pc screen with my phone 🤣

    Hello,

    How about split a workspace for the Robot, and another for the Tool?

    I assume the monitored volume of the Robot is represented as spheres having their origins at the centers of each joint.

    Which might probably not taking consideration of our mountingBase which is a hundred-some mm below from the origin of Axis1.

    It couldn't really explain what exactly happened to your setting (-19 working, -80 not), but separating a Robot and a Tool for your space monitors might be a

    yeah true ill give this a go, I think you may be right as from memory the workspace was working originally but I was only monitoring the tool. and then i changed to the robot aswell but may not have noticed it go out of bounds for a while without realiseing it was the change of the monitoring of both the tool and the robot

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