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Missing self-collision rules

Error ID: 2106
Platform: Process Simulate

This sanity check verifies that robots have self-collision rules defined. Self-collision checking prevents the robot from colliding with itself (e.g., tool hitting robot arm). Without these rules, the optimized paths may contain self-collisions. The user should define self-collision rules or accept the risk of potential self-collisions.

What this error means​

  • Severity: Warning
  • Blocking behaviour: allow_cancel
  • Dialog type: Warning - Can continue or cancel (AllowCancel)
  • The message indicates that Resolver found an issue with the current Process Simulate setup and is warning you before continuing with the export/import workflow.

Dialog text shown in Resolver​

Robot: {robotName1}, {robotName2}
Generated trajectory may result in self-collision

Define self-collision rules for these robots

How to fix it (step-by-step)​

  1. Carefully read the dialog text shown above and note any robots, operations, objects, or settings that are mentioned.
  2. In Process Simulate, inspect the affected station or operation and verify that the setup matches the expectations described in the message (for example: targets, robots, kinematics, collision sets, RCS configuration, export options, cloud settings, etc.).
  3. Decide whether it is safe to continue based on your project phase. If in doubt, cancel the operation, fix the root cause in Process Simulate, and then retry.
  4. Save your changes in Process Simulate and run the Resolver import/export again.
  5. Confirm that the message no longer appears, or that it now reflects the updated configuration correctly.

When is it safe to ignore this warning?​

You may choose to continue without fixing this issue when:

  • you are running a quick test or proof-of-concept,
  • the affected configuration does not impact the robots or operations you care about,
  • you fully understand the implications described in the dialog.

For production use, it is strongly recommended to resolve the cause of the warning rather than ignoring it.