> For the complete documentation index, see [llms.txt](https://a-vi-shek.gitbook.io/kuka-iiwa/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://a-vi-shek.gitbook.io/kuka-iiwa/hardware-setup/safety-configuration.md).

# Safety Configuration

Robot Safety, Hand-guiding & Collision stop

This section will handle the logistics of how to setup safety features like collision detection, collaborative features like hand guiding and syncing the project with the robot controller from the local PC.  First, we need to open the **SafetyConfiguration.sconf** file from the Package explorer window. After opening, it will show 3 tabs : Tool Selection Table, KUKA PSM and Customer PSM. (PSM : Permanent Safety Monitoring). KUKA PSM is a non-configurable Event-Driven Safety Monitoring ( ESM) and Customer PSM is configurable ESM. These should look something like this :

![Image 1 : Safety Configuration](https://1898798483-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MLwVwvpMGiOqPyOcRpW%2F-MbmNaKEF0MYtD8rMU3V%2F-MbmO7TQWBZtrDAQXt3d%2Fkuka_iiwa_sunrise_workbench_safety_avishek_das_01.JPG?alt=media\&token=c1b82882-49a4-473b-94a9-d69baf80fcdb)

When KUKA Human Robot Collaboration and KUKA Safe Operation are installed, collision detection can be added to the list of the Customer PSM. In our case we have reset all the default rows and added our own Categories and AMF. To reset a row and add a row, click on the options on the top right corner of the safety configuration window. After adding the collision detection category and AMF it should look like this.

![Image 2 : Collision Detection](https://1898798483-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MLwVwvpMGiOqPyOcRpW%2F-MbmOFpbKBszCvHpQFHf%2F-MbmQapO5fddr4EG2ymv%2Fkuka_iiwa_sunrise_workbench_safety_avishek_das_02.JPG?alt=media\&token=086f8d1c-cf5b-4f51-a201-93f161c3ddb5)

After this step, sync the project with the controller and activate the safety configuration.

{% hint style="warning" %}
For additional safety, add your own configuration in the Customer PSM. Please take caution while setting up this particular step.
{% endhint %}