Cell Editor - Collision Groups

{Intro paragraph}

Open a device in the Cell Editor.
In the Cell tree, select the Cell.
In Cell settings on the right, go to the Collision setting section.

Collision group pairs

Each item in the list is a collision group pair. A cell may contain any number of collision group pairs. Collision group pairs are used to differentiate collisions by type. For example, “Robot-to-Cell” may be one collision group and “Robot-to-Part” might be another. This would give you the ability to set up these types of collisions separately.

Add

Add a new collision group to the list.

Edit

Open the Collision Group Pair Settings panel to edit the collision group.

Delete

Remove the collision group pair from the list.

Enable / Disable

Make the collision group active or inactive in the cell. Disabled collision groups will also be disabled by default in a part programming session when the device is loaded.

Collision Group Pair settings

Name

Enter a descriptive name for the collision group pair.

Type

Collision or Interference.

Color

Set an RGB color for the collision group. Color can be used to visually differentiate collision groups in part programming sessions. For example, you might enter one color for a robot-to-cell collision group and a different color for a robot-to-robot collision group.

Pairs

The pairs panes are a fundamental part of how collisions work. During collision detection in Robotmaster, elements on one side are checked against elements on the other side to see if they touch or collide during a program.

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Available geometries

Cell

This encompasses every object in the cell tree. Drag the entire cell into one of the Pairs boxes to add every component in it. Alternatively, you can expand the cell node and select and drag individual items in the cell to add them one-by-one.

Toolings

Each robot has it’s own tooling which can be added to a pair.

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 you would want to allow the flute of the tool to touch the workpiece without causing a collision.

Workpieces

Any CAD element classified as a workpiece.

Fixtures

Any CAD element classified as a fixture.

Stocks

Any CAD element classified as stock.

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.