Manage Obstacles in the Workcell manual control mode; when the destination of each motion is being planned; and while straight-line motions are being performed. From the Workcell Obstacles page, you can perform the following tasks: l Add Obstacles l Delete Obstacles l Edit Obstacles Add Obstacles To add an obstacle 1. In the tree view, select the robot you want to configure. 2. If the Workcell Obstacles page is not visible, click the Workcell Obstacles tab in the Configuration View. 3. Click Add Obstacle to display a list of available obstacles. 4. Select the type of obstacle or area that most closely matches the motion limitations you need to accommodate in your workcell.
For example, if you want the robot to avoid a box-shaped obstacle, select Avoid Box. If you want the robot to work within a box-shaped area, select Inside Box. After you select the obstacle, the Defined Obstacle list is updated. You can define up to six obstacles for the current workcell. 5. Specify the parameters for the obstacle dimensions, position, and orientation in the corresponding fields. The location of the obstacle is defined with respect to the base reference frame of the robot. 6. Click Apply to save your changes. Delete Obstacles To delete an obstacle: 1. Select the obstacle name in the Defined Obstacle list. 2. Click Delete . 3. Click Apply to save your changes.
Edit Obstacles To edit the an obstacle: 1. Select the obstacle name in the Defined Obstacle list. 2. Enter the new values in the dimension, position, and orientation fields, as needed. 3. Click Apply to save your changes. ACE User's Guide, 3.6.x 18316-000 Rev A Page 282