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Collision groups for a cell determine how collisions are detected when that device is loaded in a part programming session.

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Each item in the list is a collision group pair (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 that is set up to check for collisions between robot joints and cell components like tables and fences. “Robot-to-Part” might be another. This gives you the ability to set up and color code these types of collisions separately.

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During collision detection in Robotmaster, if any object in the left Pairs box touches any object in the right Pairs box, a collision will occur.

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These robots can be selected independently for collision group pairs. You can build robot-to-robot collision groups in this way.

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Toolings, tools, workpieces and other 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
  Toolings used in the 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 want to allow the flute of the tool to touch the workpiece without causing a collision.

• Workpieces
  This includes any CAD element that is classified as a workpiece in a part programming session.

• Fixtures
  This includes any CAD element that is classified as a fixture in a part programming session.

• Stocks
  This includes any CAD element that is classified as stock in a part programming session. 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.

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