Collision detection (CollisionDetection)
INFORMATION
The MOVIKIT® Robotics addon CollisionDetection license is required to use the function.
The "Collision detection" function enables identification of collisions by monitoring motor torque and speed. "Collision detection" can be used to actively respond to events that disrupt processes and reduce or even entirely prevent expensive idling time.
To implement the function, the expected loads from the physics simulation function of the robot are transferred to the digital twin of the drive train, which simulates the loads on the drive. If the torque exceeds the expected torque or speed value by more than a configurable threshold value, a collision is deemed to be the cause, and a message and pre-configured collision response is triggered.
For instance, a true-to-path emergency stop with output stage inhibit can be defined as a response to the collision. Furthermore, the following collision responses are possible:
Collision response | Stop type until reaching idle state | Output stage inhibit at idle state | Message | Continued travel |
|---|---|---|---|---|
Information | Without stop | No | Information | No action necessary |
Warning | Warning | |||
Application stop without output stage inhibit | Application stop | Reset message | ||
Application stop | Yes
| Fault | ||
True-to-path emergency stop + output stage inhibit | True-to-path emergency stop | |||
Axis-wise emergency stop + output stage inhibit | Axis-wise emergency stop |
The message (information, warning, or fault) contains more information about the collision itself (e.g. about the location of the collision). The points at which collisions are detected are displayed in the 3D simulation when a pen tool is switched on. Due to the low-priority communication between the MOVI-C® CONTROLLER and PC, minor inaccuracies can occur in the 3D simulation. The actual position values that are displayed when moving the mouse pointer over the collision points are not affected by this inaccuracy.
For more information on startup of the function among other things, refer to chapters Application examples and IEC programming.
