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Navigation
Open a device cell in the Cell Editor.
In the Cell tree, select the Cell.
In Cell settings on the right, go to the Collision setting section.
Collision group pairs
Each item in the list is a collision group pair . A cell may contain any number of collision group pairs. Collision group pairs (commonly just called a “collision group”). Collision groups are used to differentiate collisions by type. For example, “Robot-to-Cell” may be one collision group and “Robot-to-Part” might be another. This would give you the ability to set up and color code these types of collisions separately.
A cell may contain any number of collision groups
Add
Add a new collision group to the list.
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Remove the collision group pair from the list.
Enable / Disable
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Enter a descriptive name for the collision group pair. This name will also appear in the part programming session.
Type
Set a type for the collision group, collision or interference.
Collision
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The Collision type is used to model physical collisions between objects. This type is used for any objects in the cell that you want to trigger a collision, including robot joints, cell components like tables and fences, external rails and rotaries, as well as other objects such as workpieces, fixtures, and toolings. Collisions are visually obvious in many areas of Robotmaster, including the viewport, point list, scheduler, Operations panel on the device side, operation settings, and in Optimization. In Robotmaster options, you can set whether to stop the simulation at collisions and whether to show a warning when trying to generating robot code for a program with collisions.
Interference
The Interference type is used to indicate to the programmer that physical objects may be too close to one another, as with a “near miss” situation. Interference can be thought of as a warning and is typically used for collision group pairs that have safety envelopes in them. Interference is visible in the viewport and scheduler. In Robotmaster options, you can set whether to stop the simulation at interferences.
Color
Set an RGB ARGB color for the collision group. Color can be used to visually differentiate collision groups in part programming sessions. For example, you might enter one color use red for a robot-to-cell collision group and a different color for a robot-to-robot collision group.
Pairs
The pairs panes are a fundamental part of how collisions work. two sides of the pairs section control which elements are evaluated for collisions in a given group.
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During collision detection in Robotmaster, elements objects on one side are checked against elements objects on the other side to see if they touch or collide during a program. (image)If they touch, a collision will occur.
You can add elements from the Available geometries section to a side of the Pairs section by clicking and dragging it.
Available geometries
Cell
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.
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Each robot has it’s own tooling which can be added to a pair box.
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 you would want to allow the flute of the tool to touch the workpiece without causing a collision.
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