Collision Avoidance With; Requesting A Recalculation Of The Collision Model (Prota) - Siemens SINUMERIK 840D sl Programming Manual

Collision avoidance with kinematic chains

8.2 Requesting a recalculation of the collision model (PROTA)

<Name_1>
<Name_2>
<NoAlarm>
References
Function Manual, Special Functions; Section K9: Collision avoidance
8.2 Requesting a recalculation of the collision model (PROTA)
Function
The collision model can be changed by the writing of system parameters for kinematic
chains, geometric machine modeling and/or collision avoidance in the part program or via
the OPI. For the changes to take effect, a recalculation of the model must be requested with
the PROTA procedure.
Protection zone status
With the call of the PROTA procedure, a recalculation of the collision model is performed
without changing the protection zone status. A newly defined protection zone is then in the
initialization status. A protection zone whose name has been changed is not considered to
be newly defined. Its status remains unchanged.
With the call of the PROTA procedure with parameter "R", a recalculation of the collision
model is performed with change of the protection zone status. All protection zones are reset
to their respective initialization status corresponding to $NP_INIT_STAT.
Note
Tool change and automatically created tool protection zones
After a tool change, the collision model is implicitly recalculated for automatically created tool
protection zones.
380
: Name of the first protection zone
Data type:
Range of
values:
: Name of the second protection zone
Data type:
Range of
values:
: Alarm suppression (optional)
Data type:
Value:
Default value:
STRING
Parameterized protection zone names
STRING
Parameterized protection zone names
BOOL
FALSE In the event of an error (<RetVal> < 0), the program
processing is stopped and an alarm displayed.
TRUE In the event of an error, the program processing is not
stopped and no alarm displayed.
Application: User-specific reaction corresponding to
the return value
FALSE
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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