During simulation of robots to place workobjects, a message saying a collision with a placed workobject pops up, and the planning always fails

Symptom:

The planning always fails during robot simulation. A failure node occurs in the move-type Step following the "Place" Step, indicating a collision between the tool and a placed workobject.

Affected Software Versions:

All Mech-Viz versions

Possible causes:

By default, collisions between the tool and the "held workobject" are not detected, but collisions between the tool and the "placed workobject" are detected in the Mech-Viz. In some cases, the tool and held workobject embed into each other, causing a collision. When a workobject is placed down, the "held workobject" becomes a "placed workobject". At this point, the tool is not completely separated from the "placed workobject", so the Mech-Viz will register a collision between the tool and the "placed workobject".

Solution:

Select the move-type Step following the “Place” Step in the Pick or Place parameter. In Move-Type Step Common Parameters, select “Do Not Check Collision with Placed Workobject”.