Workcell Obstacles Robot Configuration: Workcell Obstacles Tab Obstacle Management The following items are used to create the workcell obstacles. After you define an obstacle, you can change its parameters by clicking the obstacle name on the list. If you want to change the obstacle type (for example, from Box to Sphere), you must delete the current obstacle and then create (add) a new one to replace it. NOTE: There is no internal checking to detect conflicts between obstacles. Viewing Workcell Obstacles As obstacles are created, and the configuration is applied, the obstacles can be viewed in the 3D Visu- alization window.
ACE User's Guide, 3.6.x 18316-000 Rev A Page 280 Item Description Obstacle List Lists the currently defined obstacles for the workcell. To edit the obstacle para- meters, click on the obstacle name. The obstacle parameters fields will update to show the settings for that obstacle. Add Obstacle Click this button to display a drop-down list of available obstacles. Click the desired obstacle to add it to the Obstacle List and to specify the parameters. Delete Obstacle Select an obstacle in the Obstacle List, then click the Delete Obstacle button to remove it.
Obstacle para- meters The obstacle parameters include the dimension, position, and orientation of the obstacle in the workcell with respect to the base frame of the robot.