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One way to solve this collision is to move the entry/exit point on one of the profiles further away.
In the Device tab, in the Operations pane, right-click an operation and select Edit in task.
Select the path, then click the red ball at the entry/exit point.
Click a point along the path to move the entry/exit to a different location.
In the Task tab, select Apply and then OK to keep your changes.
In the Device tab, select Calculate.
Confirm that the collision no longer occurs.
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Change path direction
For applications where it is possible to change the direction in which a path is processed, you can try changing path direction to solve collisions.
In the Device tab, in the Operations pane, right-click an operation and select Edit in task.
Right-click the path (be sure to right-click one of the vectors on the path), then select Path > Invert direction.
Confirm that the path direction is reversed.
In the Task tab, select Apply and then OK to keep your changes.
In the Device tab, select Calculate.
Confirm that the collision no longer occurs.
Click a different location to move the entry/exit point.
Rearrange operations
Another method of solving collisions is to plan and reassign certain rearrange operations to different robots. This can be done by either changing the order in which operations are sequenced for a given robot and/or reassigning operations to different robots.
When planning the sequence of operations in a multi-robot cell, consider required spacing between robots, how much room is available in the work cell, whether you need to include an additional buffer distance for safety.
Change the sequence of operations for one of the robots:
Here Robot_1 is processing operations 1 and 2, and Robot_2 is processing operations 3, 4, and 5:
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Operations 1 and 3 may be too close together to process simultaneously. Instead the sequence of Robot_2 could be changed so that operation 4 is processed first. This would leave more space between Robot_1 and Robot_2 as the operations are processed, lessening the chance of collision.
Use the control handle to drag the operation to a different place in the sequence.
Select Calculate to see if the collision is cleared.
As you rearrange operations, the robot trajectories will be updated. Pay attention to the changes in paths as the robots move between home positions, and between operations.
Notes:
Rearranging operations in the Device > Operations pane.
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