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With a device open in a Cell editor session, open Cell settings.
Select the [+] button next to Collision group pairs to add a new collision group.
Click the Edit button for the group.
Enter a descriptive name, such as “Left Robot to Part”.
Keep Type set to Collision and Color set to red.
In the Available Geometries section, expand the Cell node and the first robot node (“ROBOT_1_LEFT” in the image). Objects in first robot are listed below it.
Add Joint2, Joint3, Joint4, Joint5, and Joint6 to the Pairs section, in the box on the left. Include any other joint or link geometry for these joints, but do not add any safety envelopes (for example “J4_Wrap”) to the box.
Expand the Toolings node, then drag the first robot’s tooling to the Pairs section, in the box on the left.
From the Available Geometries section, drag Workpieces, Fixtures, and Stocks to the Pairs section, in the box on the right.
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, fixtures. , and stocks. If any of the objects in the left box touch any of the objects in the right box, a collision will be detected.
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Once this is completed, you will have two collision groups, one group per robot, which will check for collisions between a given robot and parts.
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Robot-to-cell collision groups
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Open Cell settings.
Select the [+] button next to Collision group pairs to add a new collision group.
Click the Edit button for the group.
Enter a descriptive name, such as “Left Robot to Cell”.
Keep Type set to Collision and Color set to red.
In the Available Geometries section, expand the Cell node and the first robot node.
Add Joint2, Joint3, Joint4, Joint5, and Joint6 to the Pairs section, in the box on the left. Include any other joint or link geometry for these joints, but . Normally, you would not add J1 or Base, as these may already touch other cell components like a floor. Also, do not add any safety envelopes (for example “J4_Wrap”) to the box.
Expand the Toolings node, then drag the first robot’s tooling Tooling to the Pairs section, in the box on the left.
Expand the Tools mode, then drag the first robot’s tools Tools to the Pairs section, in the box on the left.
From the Available Geometries section, in the Cell node, drag cell components into the Pairs box on the right. In this example, Table is the only cell component that will be used for collision checking.
Click OK.
With the collision group set up in this way, the first robot, tooling, and tools will be checked for collisions against the table. If any of the objects in the left box touches the table, 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 groups, one group per robot, which . Each group will check for collisions between a robot and cell components.
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Open Cell settings.
Select the [+] button next to Collision group pairs to add a new collision group.
Click the Edit button for the group.
Enter a descriptive name, such as “Left Robot to Self”.
Keep Type set to Collision and Color set to red.
In the Available Geometries section, expand the Cell node and the first robot node.
Add Base, Joint1, Joint2, Joint3, Joint4, and Joint5 to the Pairs section, in the box on the left. Do not add Joint6, because it normally touches the tooling. Include any other joint or link geometry for J1 – J5, but do not add any safety envelopes (for example “J4_Wrap”) to the box.
Expand the Toolings node, then drag the first robot’s tooling Tooling to the Pairs section, in the box on the right.
Expand the Tools mode, then drag the first robot’s tools Tools to the Pairs section, in the box on the right.
Click OK.
With the collision group set up in this way, the first robot’s base, joints, and links will be checked for collisions against its tooling and tools. If any of the objects in the right box touches the robot, a collision will be detected.
Repeat steps 1 - 10 , but this time for the second robot.
Once this is completed, you will have a collision group for each robot that checks for collisions with itself.
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Open Cell settings.
Select the [+] button next to Collision group pairs to add a new collision group.
Click the Edit button for the group.
Enter a descriptive name, such as “Left Robot to Right Robot Interference”.
Set Type to Interference.
Select a different color for the group. In this example, the Color will be set to yellow (A 255A255, R 255R255, G 255G255, B 0B0).
In the Available Geometries section, expand the Cell node and the first robot node.
Add the safety envelopes for the first robot to the Pairs section, in the box on the left. In this example, safety envelopes J3_Wrap_100 and J4_Wrap_100 for ROBOT_1_LEFT are added.
Add the safety envelopes for the second robot to the Pairs section, in the box on the right. In this example, safety envelopes J3_Wrap_100 and J4_Wrap_100 for ROBOT_2_RIGHT are added.
Click OK.
Create a robots-to-cell interference group
In Cell settings, select the [+] button next to Collision group pairs to add a new collision group.
Click the Edit button for the group.
Enter a descriptive name, such as “Both Robots to Cell Interference”.
Set Type to Interference.
Select a different color for In this example, the Color will be set to yellow (A 255, R 255, G 255, B 0).
In the Available Geometries section, expand the Cell node and the first robot node.
Add the safety envelopes for the first robot to the Pairs section, in the box on the left. In this example, safety envelopes J3_Wrap_100 and J4_Wrap_100 for ROBOT_1_LEFT are added.
Add the safety envelopes for the second robot to the Pairs section, in the box on the left. In this example, safety envelopes J3_Wrap_100 and J4_Wrap_100 for ROBOT_2_RIGHT are added.
Add cell components (such as Tables and Fences), Workpieces, Fixtures, and Stocks to Pairs section, in the box on the right.
Click OK.
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