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
Note that 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
(procedure)
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.