Defining the Penetration Avoidance Queue

The Penetration Avoidance Queue command allows you to build a Penetration Avoidance Queue for cables that are simulated in the document.
The penetration avoidance queue for a cable is the list of components that the cable seeks to avoid penetrating, during simulation, by modifying its own shape based on a physically realistic algorithm that includes the effects of gravity, stiffness, and torsion. If a component that is not in the penetration avoidance queue comes in the path of cable, it will be ignored and the cable will pass through it.

Before using this command, verify that you can simulate the cables connected to robot components by running robot tasks using the Simulation toolbars or the Teach or the Jog commands. Note that without any kind of penetration avoidance, the cable will go through any object with which it comes into contact.
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  1. Click Cable Penetration Avoidance  .

  2. Select a cable.

    The Define Penetration Avoidance Queue dialog box appears.

  3. Specify a list of components in the process with which the cable is likely to come in contact. The components can be added to the list either by selecting them from the 3D view or from the product tree. Click OK.
    The penetration avoidance queue is stored under the Branchable node.

    Examples:

    • No Penetration Avoidance
    • Penetration Avoidance
ascenari.gif (1223 bytes) See About Penetration Avoidance.