Starting up collision detection

  • The MOVIKIT® Robotics add-on CollisionDetection license has been activated.
  • The "Physics simulation" function has been started up for MOVIKIT® Robotics and MOVIKIT® MultiMotion each (see previous chapter).
  • The "Physics simulation" function calculates good values (torque discrepancy < 50% in normal operation. There is no recommendation for the speed discrepancy, since no modeling is available here). INFORMATION: If this is not the case, check the friction modeling and the physics simulation configuration again. The setting of the controller can also have an influence on the determined deviation due to the influence on the actual values.
  • The HighPrio action has no overflows. Otherwise, increased deviations will occur, which may lead to collisions being detected incorrectly.
  1. Configure the desired "Collision response" on the higher-level MOVIKIT® Robotics via the Physics configuration menu.
  2. On all lower-level axes, activate the "Collision detection" function in the Physics configuration menu of the MOVIKIT® MultiMotion.
  3. Determine the correct threshold values for the collision response. See also Determining the collision threshold values.
  4. Enter the calculated threshold values in the "Physics" configuration menu of the MOVIKIT® MultiMotion in the Collision detection submenu.