Starting up collision detection

  • The MOVIKIT® Robotics addon CollisionDetection license has been activated.
  • The "Physics simulation" function has been started up for both MOVIKIT® Robotics and the software modules of the lower-level axes (see previous chapters).
  • 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" > "Basic settings" configuration menu.
  2. Activate the MOVIKIT® Robotics and the "Collision detection" additional function for all lower-level axes in the "Module configuration" > "Basic settings" configuration menu of the software module in the "Higher-level MOVIKIT®" section.
  3. Determine the correct threshold values for the collision response. See Determining the collision threshold values.
  4. Enter the calculated threshold values in the "Additional functions" > "Collision detection" configuration menu of the software module of the lower-level axis.
Additional information