Boundary Conditions - Siemens SINUMERIK 840D sl Function Manual

Example: Revolver magazine on a lathe
The revolver magazine on a lathe is fully modeled in the machine model of the collision
avoidance:
● The geometry of the magazine and the tools located inside it
● The motions of the magazine through the machine axes
A rotation of the revolver magazine then does not represent a change to the machine model:
● since no tools are changed inside the machine model the geometries of all the protection
areas remain unchanged.
● As the motions of the protection areas by the machine axes are fully captured by the collision
avoidance via the kinematic chain.
Supplementary conditions
Several spindles in the channel
For configurations with several spindles in the channel, the collision avoidance function
assumes that a tool change takes place in the master spindle of the channel (S1). As a result
only the automatic tool protection area of the master spindle is updated through the collision
avoidance once the tool change has taken place.
Unsupported tool configurations
Tool configurations in accordance with ISO modes 4 and 5 (H numbers) along with "flat D
numbers" are not supported by the collision avoidance.
7.1.5

Boundary conditions

Channel assignment
All of the machine components relevant for collision avoidance must be located in the first
channel of the NC:
● All axes and spindles of the kinematic chain.
See Chapter "K7: Kinematic chain - only 840D sl (Page 185)"
● All tools of the automatic tool protection areas of the geometric machine modeling.
See Chapter "K8: Geometric machine modeling - only 840D sl (Page 211)"
Allowance for the following error
The collision avoidance uses the position setpoints of the relevant machine axes for the
clearance calculation of the protection areas. However, the actual positions of the machine
axes differ from the position setpoint by the following error. For this reason, there is also a
difference between the position setpoint and the actual position for the protection areas. This
difference must be taken into account by the user through configuration of a suitably large
safety clearance or enlargement of the protection area.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
K9: Collision avoidance - only 840D sl
7.1 Function description
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