New enhancements in 3DEXPERIENCE R2023xFD01 have been introduced into the Robot Safety Zone functionality. Specifically, Robot Safety Zones can now have I/O assigned to them. The I/O can be triggered when the zone is violated. There is also capability for an I/O to activate the particular zone. In addition, there is also support for Motion Groups in the Axis Zones. See the video below for more details.