In a system with one controller and multiple manipulators, the Tool & Arm Interference Check Function can be used to detect possible interference to avoid collision during operation. The following three patterns can be checked:

- Arm against arm
- Arm against tool
- Tool against tool

Interference is checked by using a cylinder that is slightly larger than the arm or tool. A sphere is placed on both ends of the cylinder. If the cylinder and spheres of one manipulator have any contact with those of the other while moving, the manipulators stop because interference was detected.