Omron NJ Series Startup Manual page 98

3 Implementation Example of Static Pick-and-place Equipment
Precautions for Correct Use
Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for de-
tails on coordinate system in the 3D Visualizer.
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Perform step 2 and later to adjust the position and orientation of the CAD Data1 of Conveyor B.
The 3D shape data of Conveyor A and Conveyor B are now placed in the appropriate positions in the
3D Visualizer.
Activating Collision Detection Function
The collision detection function detects the contacts in simulation that may occur between the robot
and other 3D shape data, such as objects imported as 3D CAD data. If the robot may contact with
other 3D shape data, you need to change the layout of the robot or the 3D shape data, or modify the
movement of the robot.
In this section, the setting procedure to detect a contact between the robot, Conveyor A and Conveyor
B is given. Because the collision detection function checks whether 3D shape data may conflict be-
tween groups, you create two groups; Group 0, which includes the robot, and Group 1, which includes
Conveyor A and Conveyor B.
Precautions for Correct Use
In this guide, the target of collision detection is the robot. When the 3D shape data is placed at
the tool center point, collision detection of that 3D shape data is also required. For the operation
procedure for the 3D shape data placed at the tool center point, refer to the Sysmac Studio 3D
Simulation Function Operation Manual (Cat. No. W618).
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NJ-series Robot Integrated System Startup Guide (O049)