The TCP BARRIER app is a Supportive App. For a group you can define a cube or cylinder by using two points. The robot will run the built-in apps only if the TCP (end effector coordinate system) is moving within the defined space. The app produces an error if it reaches the space boundary or if the TCP is outside of the space at startup.

  • Increased safety by restricting the workspace.
Limitations / possible parameterisation failure
  • The app does not represent a safety function according to ISO 10218 and therefore can only help to reduce risks in the risk assessment.
  • Within the app only the TCP (end effector coordinate system) is monitored. Extremities outside the TCP are not monitored. This includes the robot arm itself.
  • We guarantee the compatibility only in combination with Gimelli Engineering Apps.
System requirements
  • PANDA robot with Firmware 4+ (for 3.x. available on request).