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

Collision avoidance with kinematic chains

Note
Protection areas
The protection areas specified in the following chapters refer to the "Geometric machine
modeling" function
References:
Function Manual, Special Functions, Chapter "Geometric machine modeling"
8.1

Check for collision pair (COLLPAIR)

Function
In collision avoidance with kinematic chains, the COLLPAIR function can be used to
determine whether two protection zones form a collision pair, i.e. whether they have to be
monitored for collision when both are active.
Syntax
[<RetVal>=]COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])
Meaning
COLLPAIR
<RetVal>
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
: Check whether part of a collision pair
: Function return value
Data type:
Value:
INT
≥ 0 The two protection zones form a collision pair.
Return value == collision pair index m
-1 Either two strings have not been specified or at least
one of the two is the zero string.
-2 The protection zone specified in the first parameter
has not been found.
-3 The protection zone specified in the second
parameter has not been found.
-4 Neither of the two specified protection zones has been
found.
-5 Both specified protection zones have been found, but
not together in a collision pair.
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