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Collision models do make trajectory planning more challenging for the robot, and in some instances (a narrow enclosure window with a large tool attached to the robot) moves will fail to plan. In these cases Tormach recommends manually programming ‘safe’ waypoints and disabling collision modelling in the software. To disable the collision model, simply give the machine offset a very large value or values (e.g. X = 1,000,000 mm) to completely move it out of the planning scene.