具体使用方法：

1. 在robotstudio中创建机器人轨迹。

2. 进入safemove2设置界面，点击下图的的step1：录制仿真

3. 点击仿真轨迹播放（step2）

4. 待仿真完成后，安全区域和安全范围图标变成可操作。

5. 点击“安全区域”，选择工具位置监控，若选择工具与肘节（前提已经设置了本体 几何体 包裹），则生成基于工具包裹和本体包裹运动范围的区域。

若选择仅工具，则只生成基于工具包裹的范围。

也可以自动生成对于TCP和3轴监控点的速度监控及各轴范围（安全范围）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.