This procedure covers setting up collision groups in a cell containing multiple robots that will work simultaneously. In addition to collisions between a robot and cell components and workpieces, collisions between robots is also covered in this article.
Cell layout
For this procedure, we will use a basic example simultaneous two-robot cell, with both robots at the same side of a work table.
Cell dimensions for this example:
Spacing between robots (at base): 1500 mm
Spacing between robots and table: 1600 mm
Table height: 500 mm
Each robot contains safety envelopes around J3 and J4, wrap style with 100 mm extension.
Robot-to-part collision groups
When creating robot-to-part collision groups for multiple robots, create one group for each robot.
Create robot-to-part collision groups for each robot
Open cell settings
Add a new collision group
Click the Edit button.
Enter a Name of 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 (“ROBOT_1_LEFT” in the image).
Add Joint2, Joint3, Joint4, Joint5, and Joint6 to the Pairs section, in the box on the left.
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, 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
(procedure)
Robot-to-self collision groups
(procedure)
Interference groups and safety envelopes
For simultaneous multi-robot cells, safety envelopes can be utilized with interference collision types to alert situations where objects come close to one another.