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This encompasses every object in the cell tree. Drag the entire cell into one of the Pairs boxes to add every component in it. Alternatively, you can expand the cell node and select and drag individual items in the cell to add them one-by-one.
Toolings
Each robot has its own tooling which can be added to a Pairs boxIndividual cell items include:
Joints
Safety envelopes
Cell components such as tables, enclosures, and floors
Rails
Rotaries
For multi-robot cells, each robot is listed under the Cell node and contains its own set of items such as joints, components, and so on. These robots can be selected independently for collision group pairs. You can build robot-to-robot collision groups in this way.
Placeholders
Placeholders are things that are not included in the cell tree, they are loaded during a part programming session. This includes toolings, tools, workpieces, fixtures, and stocks. These items can be added separately to collision pairs.
Toolings
Whichever tooling is used in part programming session will be used for collision detection. This might be the default tooling specified for the robot or a different tooling loaded during the session.Tools
An entire tool may be added, or you can expand the Tools node to select Arbors, Holders, and Flutes individually. For example, for a milling operation, you might want the arbor and holder of the tool to cause a collision if either touches the workpiece, but
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want to allow the flute of the tool to touch the workpiece without causing a collision.
Workpieces
This
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includes any CAD element that is classified as a workpiece.
Fixtures
This
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includes any CAD element that is classified as a fixture.
Stocks
This
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includes any CAD element that is classified as stock.
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Stock can be further refined by either Initial static stock or For material removal. The material removal option can be used as part of the Material Removal module.