Page Comparison

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• Spacing between robots (at base): 1500 mm

• Spacing between robots and table: 1600 mm

• Table height: 500 mm

Note that each Each robot contains safety envelopes around J3 and J4, wrap style with 100 mm extension.

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Create robot-to-part collision groups for each robot

1. Open cell settings

2. Add a new collision group

3. Click the Edit button.

4. Enter a Name of Left Robot to Part.

5. Keep Type set to Collision and Color set to red.

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1. In the Available Geometries section, expand the Cell node and the first robot (“ROBOT_1_LEFT” in the image).

2. Add Joint2, Joint3, Joint4, Joint5, and Joint6 to the Pairs section, in the box on the left.

3. Expand the Toolings node, then drag the first robot’s tooling to the Pairs section, in the box on the left.

   Image Added

4. From the Available Geometries section, drag Workpieces, Fixtures, and Stocks to the Pairs section, in the box on the right.

5. Click OK.

With the collision group set up in this way, the first robot and the tooling mounted on it will be checked for collisions against workpieces, stocks, and fixtures. If any of the objects in the left box touch any of the objects in the right box, a collision will be detected.

• Repeat steps 1 - 10, but this time for the second robot.

Once this is completed, you will have two collision group, one group per robot, which will check for collisions between a robot and parts.

Robot-to-cell collision groups

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