K9: Collision Avoidance - Only 840D Sl; Function Description; Characteristics - Siemens SINUMERIK 840D sl Function Manual

K9: Collision avoidance - only 840D sl

7.1

Function description

7.1.1

Characteristics

The "Collision avoidance" function is used to prevent collisions of machine parts and tool
cutting edges while the machine axes are being traversed. To do this, the function cyclically
calculates the clearance to the protection areas enveloping the bodies to be protected. If two
protection areas approach one another to within a configurable safety clearance, an alarm is
displayed and the NC program stopped before the relevant traversing block (AUTOMATIC,
MDI mode) or the traversing motion is stopped (JOG mode).
Option
The "Collision avoidance (machine, tool)" function is an option that requires a license.
● Article number: 6FC5800-0AS02-0YB0
Boundary condition
Collision avoidance can currently be applied only with single-channel control configurations.
Sequence
The collision avoidance is set up in the following sequence:
1. Enable the "collision avoidance (machine, tool)" function by setting the option (see above)
or the corresponding machine data, see the section "Enable (Page 266)"
2. Setting the machine data for the basic parameterization of the functions:
– Kinematic chain, section "Machine data (Page 190)"
– Geometric machine modeling, section "Machine data (Page 220)"
– Collision avoidance, section "Machine data (Page 266)"
3. Writing of the machine kinematic structure through kinematic elements.
See Chapter "K7: Kinematic chain - only 840D sl (Page 185)".
4. Writing of the protection areas and protection area elements as enveloping geometry of
the machine parts, tools and workpieces to be protected. Assignment of the protection area
to elements of the kinematic chain.
See Chapter "K8: Geometric machine modeling - only 840D sl (Page 211)".
5. Definition of collision pairs, i.e. of two protection areas that are to be monitored for collision.
See Chapter "$NP_COLL_PAIR (Page 270)".
6. Triggering a recalculation of the kinematic and geometric model.
See Chapter "Request recalculation of the machine model of the collision avoidance
(PROTA) (Page 277)".
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
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