具體使用方法：

1. 在robotstudio中創(chuàng)建機(jī)器人軌跡。

2. 進(jìn)入safemove2設(shè)置界面，點(diǎn)擊下圖的的step1：錄制仿真

3. 點(diǎn)擊仿真軌跡播放（step2）

4. 待仿真完成后，安全區(qū)域和安全范圍圖標(biāo)變成可操作。

5. 點(diǎn)擊“安全區(qū)域”，選擇工具位置監(jiān)控，若選擇工具與肘節(jié)（前提已經(jīng)設(shè)置了本體 幾何體 包裹），則生成基于工具包裹和本體包裹運(yùn)動(dòng)范圍的區(qū)域。

若選擇僅工具，則只生成基于工具包裹的范圍。

也可以自動(dòng)生成對(duì)于TCP和3軸監(jiān)控點(diǎn)的速度監(jiān)控及各軸范圍（安全范圍）的配置。

Specific usage method:
1. Create robot trajectories in robotstudio.
2. Enter the safemove2 settings interface and click on step 1 in the following image: Record Simulation
3. Click on the simulation trajectory to play (step 2)
After the simulation is completed, the safety zone and safety range icons become operable.
5. Click on "Safe Zone" and select the tool position monitoring. If the tool and elbow joint are selected (provided that the body geometry wrapping has been set), the minimum area based on the tool wrapping and body wrapping motion range will be generated.
If you choose tool only, only the range based on the tool package will be generated.
It can also automatically generate maximum speed monitoring and configuration of each axis range (safety range) for TCP and 3-axis monitoring points.