Collision groups for a cell determine how collisions are detected when that device is loaded used in a part programming session. Collision groups can be set up in the robot cell editor.
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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.
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
The Toolings item is a placeholder for any tooling used in the part programming session
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with this cell. This might be the default tooling specified for the robot or a different tooling loaded during the session.
All moves
Joint moves
Cartesian moves
In the Tooling editor, Collision type is used to control how collision checking works for the tooling model by motion type (All moves, Cartesian moves, Joint moves, or Disabled).
Tools
The Tools item is a placeholder for any tool used in a part programming session. 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 allow the flute of the tool to touch the workpiece without causing a collision.
Workpieces
This
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is a placeholder for 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.