Collision settings

Collision settings can be used to view and override cell collision settings for the loaded device in a part programming session.

Navigation

Collision settings are accessible through the Cell and Setup level settings on the device side of Robotmaster.

Collision group pairs

By default, Collision settings match the collision group pairs established in the cell editor for the device.

In a part programming session, you can change the Collision settings for a cell or setup as follows:

• Enable or disable collision groups

• Add new collision groups

• Edit or delete existing groups

This lets you customize collision groups for a given part programming session. Any changes you make to collision settings are saved in the part programming session file.

Add

Adds a new collision group to the list.

Edit

Opens the Collision group pair settings panel where you can edit the collision group.

Delete

Removes the collision group from the list.

Enable / Disable

Makes the collision group active or inactive in the part programming session. This is useful for quickly distinguishing collision groups in the viewport.

Collision group pair settings

Name

Enter a descriptive name for the collision group.

Type

Set a type for the collision group, collision or interference.

• Collision
  The Collision type is used to model physical collisions between objects. This type is normally used for any objects in the cell that you want to cause a collision, including robot joints, cell components like tables and fences, external rails and rotaries, as well as other objects such as workpieces, fixtures, and toolings. Collisions are visually obvious in many areas of Robotmaster, including the viewport, point list, scheduler, Operations panel on the device side, operation settings, and in Optimization maps. In Robotmaster options, you can set whether to stop the simulation at collisions and whether to show a warning when trying to generating robot code for a program with collisions.

• Interference
  The Interference type is typically used to indicate to the programmer that physical objects may be too close to one another. Interference can be thought of as a warning and is typically used for collision group pairs that have safety envelopes in them. Interferences are visible in the viewport and scheduler. In Robotmaster options, you can set whether to stop the simulation at interferences.

Color

Set an A value (opacity) and RGB color for the collision group. Color can be used to visually differentiate collision groups in the viewport in part programming sessions. For example, you might use red for a Robot-to-Cell collision group and a different color for a Robot-to-Robot collision group.

This option only affects collision colors for objects in the viewport, collision indicators ( ) are always shown in red.

Pairs

The two boxes opposite eachother in the Pairs section control which elements are evaluated for collisions in a given group.

During collision detection in Robotmaster, if any object in the left box touches any object in the right box, a collision will occur.

You can add elements from the Available geometries section to a left or right box in the Pairs section by clicking and dragging it.

Available geometries

Cell

This encompasses every object in the cell. 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. Individual cell items include:

• Joints

• Safety envelopes

• Cell components such as tables, enclosures, and floors

• Rails

• Rotaries

• Miscellaneous elements included in the CAD model of the cell

For multi-robot cells, each robot is listed under the Cell node and contains its own set of items such as joints, components, and so on.

These robots can be selected independently for collision group pairs. You can build robot-to-robot collision groups in this way.

Toolings

The Toolings item is a placeholder for any tooling used in the part programming session with this cell. This might be the default tooling specified for the robot or a different tooling loaded during the session.

Tooling collision checking can be set by motion type:

• All moves

• Joint moves

• Cartesian moves

For example, when set to Joint moves, only collisions that occur during joint moves will trigger a collision.

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 is a placeholder for any CAD element that is classified as a workpiece in a part programming session.

Fixtures

This is a placeholder for any CAD element that is classified as a fixture in a part programming session.

Stocks

This is a placeholder for 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. With this option, a dynamic version of the stock that is modified by material removal is used for collision checking.