[Albert]

I recommend you to try collision checking with the RoboDK API for Matlab. The communication time should be very small. The communication time may be negligible if your cell is complex. I recommend you to take a look at these tips to improve collision calculation time:
//m.sinclairbody.com/doc/en/Collision-Avoi...isionCheck

If you want to remove the dependency of the RoboDK API you can write a plugin in RoboDK to load files and check for collisions. More information here:
//m.sinclairbody.com/doc/en/PlugIns/index.html

Can you provide more information about the timeout error? You may need to increase the timeout if your cell is too complex.