As suggested by @valerio.manenti, I am creating this post to discuss the best practices to avoid collisions between delta robots.
Hello,
B&R does not jet have a out of the Box-Feature to enable collision-avoidance between Robots.
Which means all existing Applications are based on some creative usage of existing Application Interfaces. I know there are some “Studies” which have very promising behaviour.
The basic principle is, to work out some rules how to handle a potential crash situation. It is important to keep in mind to not have rules which can lead to some deadlocks, where both Robots wait for each other.
The main actuation interface for a external supervision application would be the override of the Robot. With this you can only slow down to get a smooth transition , or if a situation needs longer wait times, you can stop (get to 0), wait (=0) and continue (>0) via the numbers of the override.
I know that there are ideas for a Line-Control.
If you can reduce the overlapping workspace by a Job-Controller which sends the Robot the Jobs and prevents overlapping Workspaces this would also be a possibility.
Lets look what others have to say…
Greetings
Michael
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Hello Michael,
A collision‑avoidance function would definitely be magnificent.
In our machine we are using the SafeZone Half Space to define how close one robot can get to the other, and for our application it works very well.
Of course, if they need to have overlapping positions, then we would need to be more ingenious about how to implement that interlocking.
Thank you.
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