In industrial environments, where robots have to be in collaboration with humans, several safety risks (clamping, collision etc.) may be identified. For this reason, new generation robots, such as the COMAU C5G controller offer two safety functions: 1) interference regions and 2) safe cartesian motion. In the first case, inside the robot’s controller, are stored the coordinates of 3D volumes that the robot is either constrained to working inside or forbidden to enter.