<\/figcaption><\/figure>\n<\/p>\n\n
Step 1: create a new scene, i.e. commonly a workcell. Alternatives would be to copy one already existing in the same project\/database or to import from another project \/ database. Assign a name to the scene. <\/p>\n\nStep 2: Define one initial safety distance between entities in the scene, such as tools, robots, workpieces, obstacles against each others. Safety distances for specific entities \u2013like tool vs. work-piece, can be changed individually later. Note: collision pairs, that can not collide in the scene, such as joints or bases of the robot against (remote) obstacles, or static obstacles against other ones, are set to [void] automatically. <\/p>\n\nStep 3: Add elements to scene. Such as robots, obstacles etc. In the case of the image below, 2 obstacles have been added. <\/p>\n\nStep 4: Then add robot to the robot cart. <\/p>\n\n
If you select the cart and then add the robot, it is assigned to the cart, and if the cart has a mounting point, the robot might be positioned correct right away. Potentially the robot (its base) must be re-posistioned. The base of the robot is not collison tested against the cart, since it is „connected“ in the tree-representation. <\/p>\n\n
If you still have selected the scene, the robot is added in the tree-representation to the scene, not to the cart. <\/p>\n\nStep 5: Add the tool to the robot in tha same way \u2014from the list of tools in the project. Note: the tool will by default be connected with its Flange-pose (if define) to the robots-flange. You can modify this transformation afterwards. For part-in-hand applications, the part is attached to the robot (with a gripper inbetween) and the tool is attached to an obstacle, table, etc. <\/p>\n\nStep 5b: The orientation of the tool can be changed by edit -> set transformation. The defined transformation will be visualized after \u201capply\u201d (alternatively after OK). <\/p>\n\nStep 6: Select the work-piece. Note the fist entity selected and added to the scene is initially attached to the scene- graph at the root. Assignments inside the hierarchy can be changed later in the scene graph by drag-and-drop. <\/p>\n\nThis document describes how to build up a robot cell from the individual components such as robots, tools, parts and obstacles. Preconditions: […]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"doc_category":[103],"doc_tag":[],"knowledge_base":[134],"class_list":["post-7704","docs","type-docs","status-publish","hentry","doc_category-robot-cells-equipment-de","knowledge_base-robot-offline-programming-de"],"year_month":"2026-04","word_count":395,"total_views":0,"reactions":{"happy":0,"normal":0,"sad":0},"author_info":{"name":"Christof Eberst","author_nicename":"ceberst","author_url":"https:\/\/convergent-it.com\/de\/author\/ceberst\/"},"doc_category_info":[{"term_name":"Robot cells & equipment","term_url":"https:\/\/convergent-it.com\/de\/tutorial\/robot-offline-programming-de\/robot-cells-equipment-de\/"}],"doc_tag_info":[],"yoast_head":"\n
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