Robotics Studio: reach and collision check
How to check that the robot reaches every point of a seam without collisions, and what to do when it does not: head orientation from 3D, tilt and turn, the axis map, moves between seams.
Manufacturing → Robot cells → Robotics Studio. The check runs on a saved layout revision: first place the robot, table, fixtures and workpiece, then click "Save as new revision".
What the system checks
For every point of every seam the server solves the robot's joint values and checks:- whether the arm reaches the point with the required head orientation;
- joint limits and the margin to them, singularities (poses where the robot loses control);
- continuity: neighbouring points need no jump in the joints;
- collisions of the robot links with the equipment, the workpiece and each other, of the head with the workpiece and the arm;
- whether anything blocks the beam from the nozzle to the point.
Click "Check reach & collisions". The result: "N/M points reachable" and a verdict per seam. Click a point to see the robot pose.
Head orientation from 3D
"Torch orientation from 3D" computes the tool direction at every point from the part surfaces — depending on the process of the seam's recipe:- welding, glue, chamfer — into the joint along the bisector of the surfaces;
- cutting and marking — square to the sheet (and it finds on which side the scrap is);
- drilling — along the hole axis.
Confirmed seams are not changed: the technologist confirms a seam together with its orientation.
When a point is not reachable
- Tilt and turn of the head. Let the head lean along and across the seam and turn about its own axis — the check picks the angle at every point.
- Axis map ("Axis map: head turn along the seam"). A "turn × seam point" table shows where the arm gets through clean. Click cells to draw your own law and click "Use this law" — the check takes it instead of choosing.
- Weld shorter. If the head does not fit into a corner, set how many mm not to weld at the start or end. The system warns that the joint stays unwelded there.
- Positioner. A seam can be welded with the positioner turned, or with synchronous motion.