Siemens SINUMERIK 840DE sl Commissioning Manual page 303

Collision avoidance
14.1 Overview
Collision avoidance allows you to avoid collisions and damage while machining a workpiece
or creating programs.
Collision avoidance is based on a machine model. The kinematics of the machine are
described as a kinematic chain. For machine parts, which are to be protected, protection areas
are attached to these chains. The geometry of the protection areas is defined using protection
area elements. The control then knows how they move in the machine coordinate system
depending on the position of the machine axes. You then subsequently define the collision
pairs, i.e. two protection areas, which are monitored with respect to one another.
The "Collision avoidance" function regularly calculates the clearance from these protection
areas. When two protection areas approach one another, and a specific safety clearance is
reached, an alarm is displayed and before the corresponding traversing block, the program is
stopped and/or the traversing motion is stopped.
Data of the machine model
The machine model data is entered into the system variables.
Note
Start-up of a machine model
You require access level 1 (manufacturer) for creating and editing a machine model.
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
Software option
You require the "Collision Avoidance ECO (machine)" software option in order to
use this function for geometrically primitive protection area elements.
Software option
You require the "Collision Avoidance (machine, working area)" software option in
order to use this function also for protection area elements in the STL and NPP data
formats.
Software option
You require the "Collision Avoidance ADVANCED (machine, workpiece)" software
option in order to use this function also for the autonomous realization of collision
avoidance application.
Machine manufacturer
Please refer to the machine manufacturer's specifications.
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