Reaction Of The Control To A Risk Of Collision - Siemens SINUMERIK 840D sl Function Manual

7.1.2

Reaction of the control to a risk of collision

The collision avoidance takes the following parameterizable limit values into account for the
collision detection:
● Collision tolerance
● Safety clearance
①
②
③
④
⑤
⑥
Figure 7-1
Collision tolerance and safety clearance
Safety clearance
The safety clearance defines a clearance up to which two active protection areas, monitored
for collision, can approach one another. The collision avoidance ensures that this clearance
is not violated and that the collision is displayed.
The safety clearance can be set specifically for each collision pair via a system variable
(Page 271).
For all collision pairs for which no specific safety clearance is set via a system variable, the
general value that can be set via MD10622 $MN_COLLISION_SAFETY_DIST
(Page 267)Hotspot-Text (Page 267) applies.
Collision tolerance
The collision tolerance defines an NC-wide additional clearance valid to the safety clearance.
Two active protection areas monitored for collision may therefore approach each other up to
the collision clearance (safety clearance + collision tolerance). Ideally, the collision avoidance
stops the traversing motion of the protection areas exactly at the collision clearance and
displays the collision. However, it is permissible that the collision tolerance is not complied with
exactly or that a brief violation does not result in collision detection and the traversing motion
is not stopped.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
1
Protection area 1 (static)
Protection area 2 (can be moved in X and Y direction)
Current clearance
Safety clearance
Collision tolerance / 2
Collision clearance = safety clearance + collision tolerance
Current clearance, collision tolerance and safety clearance
K9: Collision avoidance - only 840D sl
3
6
4
5
5
7.1 Function description
2
257