Epson RC170 Betriebsanweisung PDF herunterladen (Seite 249)

8. Simulator

8.3.3 Collision detection

In the simulation, collisions can be detected between the robots including its hand and the

layout objects. Here we describe the settings and details of collision detection.

Basic settings for collision detection

In the [Property Grid] of the robot, the following can be configured.

Property Value

Check Collision Enables / disables the collision detection for layout objects.

Enable: True (default)

Disable: False

Even if this is enabled, it does not detect collision between the robot

base and layout objects.

Check Self Collision Enables / disables the collision detection for a robot itself.

Enable: True (default)

Disable: False

Target of collision detection

In the Property Grid of the layout objects, the following can be configured.

Property Value

Check Collision

Enables / disables the collision detection for a robot.)

Enable: True (default)

Disable: False

Even if this is enabled, it does not detect collision when the robot

collision detection is disabled.

Generate error when collision is detected

When you open the [Setup]-[Controller]-[Simulator] and check the [Generate error when

collision detected] checkbox, if a collision is detected during SPEL

＋

program execution,

an error occurs in the controller and the program stops.

After checking the check box, click the <Apply> button and then click the <Close> button.

The purpose of this function is to find where the program has a problem and not to prevent

the collision of robots.

)

NOTE

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 231

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Epson RC170 Betriebsanweisung Seite 249