Collision Configurations

A collision configuration sets how strictly the server checks for collisions: a margin (the minimum allowed distance between parts) and a list of excluded pairs (parts allowed to touch, such as a tool and the part it is working on).

Important

Only the configuration named default is used: by the collision check when you pose a robot (Targets) and by PTP planning (PTP Trajectories). Other configurations are saved but not used.

Open the editor with ☰ (More setup) → Collision Configs. The table lists each configuration’s Name, Margin (m) and number of Pairs. default is marked (active).

Create a configuration

Click Create Config, enter a Name and click Create Config again. New configurations start with a margin of 0 and no excluded pairs.

Use a name that is not already taken. Creating a configuration with an existing name, including default, replaces it with an empty one: its margin and excluded pairs are lost.

Edit a configuration

Click Edit in the configuration’s row.

• Collision Margin (m): enter the margin and click Save.

• Excluded Pairs: choose Component 1 and Component 2 from the lists of collision parts in the workcell, and click Add Pair. Click Remove on a row to check that pair again.

Warning

Composer Studio overwrites the margin of default, keeping its excluded pairs:

• adding a system or a scene object sets it to 0;

• creating a PTP trajectory sets it to that trajectory’s Collision Margin, 0 by default (PTP Trajectories).

Check the margin of default after these steps and set it again if needed.

The default configuration, with the sander and its adapter allowed to touch the part.

Rename or delete a configuration

Use Rename or Delete in the configuration’s row. Composer Studio warns before you rename or delete default: afterwards, collision checks run with an empty configuration (no margin, no excluded pairs) until a new default exists. Adding a system or a scene object, or creating a PTP trajectory, creates a new empty default automatically.