Siemens SINUMERIK 840D sl Function Manual page 256

K9: Collision avoidance - only 840D sl
7.1 Function description
7. Activation of the protection areas to be monitored.
See Chapter "Setting the protection area state (PROTS) (Page 278)".
8. Optional: Use of the extended functions and system variables
Limits of the collision avoidance
The function cannot guarantee complete protection against a collision when traversing
machine parts, tools of workpieces. On the one hand, the collision protection can only be as
good as the parameterized kinematic and geometric model or the machine and the protection
areas. On the other hand, bodies that have not been modeled cannot be monitored at all. For
this reason, it remains the responsibility of the machine operator to ensure that a traversing
motion is executed collision-free even when the collision protection is activated.
States of protection areas
Whether a protection area is taken into account for collisions, depends on the state of the
protection area:
Inactive
Preactivated
State after control ramp-up
After control ramp-up, all protection areas are in the state corresponding to their respective
setting in $NP_INIT_STAT. See Chapter "$NP_INIT_STAT (Page 230)".
State change
The state of a protection areas can be changed by:
● The PROTS() (Page 278) procedure
● Change of the initialization state to $NP_INIT_STAT followed by recalculation of the
machine model through the PROTA() (Page 277)procedure.
Requirements
The following requirements must be satisfied so that the protection areas of a collision pair
can be monitored:
● Axes or spindles: referenced/synchronized
The position measurement system for the axes or spindles which move a protection area
must be referenced or synchronized. If this has not been done the corresponding protection
area is in an "inactive" state.
● External motion
With traversing motions that are not performed by the NC, e.g. PLC axis or manually moved
axis, the current axis position must be known in the NC.
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State Meaning
Active The protection area is taken into account for collisions.
The protection area is not taken into account for collisions.
The protection area is taken into account for collisions. A collision alarm is only issued
when it has also been activated by a protection area-specific NC/PLC interface signal.
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions