Robot Collision Avoidance function

Robot Collision Avoidance function

Collision Avoidence is function which allow to stop cooperated robots before collision. Robots inform each other about their positons and react for any interferention.

1 Requirements

Robots CRn-D, CRn-Q series or CRn-R.
RTToolbox: 3.40s or higher
Firmware: R6b/S6b or higher

2 Function description

Collision Avoidence is function which allow to stop cooperated robots before collision. Robots inform each other about their positons and react for any interferention.
It is also available with single robot D series.
It detect only Free Plane Limits.
Robot not detect self collisions. 

3 Parameter setting



Setting of area:




Setting of Free Plane Limit:




Parameter list related with Collision Avoidance:



4 JOG mode

If you want to deactivate Collision avoidance in JOG mode unselect “Always enable while jog”:



You deactivate it by button CLEAR on teach box R32TB or select box "CAV" in R56TB.