Collision Avoidance With Kinematic Chains; Check For Collision Pair (Collpair) - Siemens SINUMERIK 840D sl Programming Manual

3.11

Collision avoidance with kinematic chains

Note
Protection areas
The protection areas specified in the following chapters refer to the "Geometric machine
modeling" function.
Information about this function, see Function Manual Monitoring and Compensation.
3.11.1

Check for collision pair (COLLPAIR)

The COLLPAIR() function determines whether two protection areas form a collision pair.
Syntax
[<RetVal> =] COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])
Meaning
COLLPAIR:
<RetVal>:
<Name_1>:
<Name_2>:
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Check whether part of a collision pair
Function return value
Data type: INT
Value: ≥ 0
-1
-2
-3
-4
-5
Name of the first protection zone
Data type: STRING
Range of val‐ Parameterized protection zone names
ues:
Name of the second protection area
Data type: STRING
Range of val‐ Parameterized protection zone names
ues:
3.11 Collision avoidance with kinematic chains
The two protection zones form a collision pair.
Return value == collision pair index m (see
$NP_COLL_PAIR)
Either two strings have not been specified or at least
one of the two is the zero string.
The protection zone specified in the first parameter has
not been found.
The protection zone specified in the second parameter
has not been found.
Neither of the two specified protection zones has been
found.
Both specified protection zones have been found, but
not together in a collision pair.
Work preparation
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