Memory Requirement; Braking Distance Estimations - Siemens SINUMERIK 840D sl Function Manual

K9: Collision avoidance - only 840D sl
7.2 Commissioning
7.2.4.3

Memory requirement

The data for the memory requirement of the collision avoidance can be read via the following
system variables (OPI variables).
System variable
$AN_COLL_MEM_AVAILABLE
$AN_COLL_MEM_USE_MIN
$AN_COLL_MEM_USE_MAX
$AN_COLL_MEM_USE_ACT
1) The system variable can be reset by writing the value 0. Every other value is rejected with an error message.
References
For a detailed description of the system variables, refer to:
List Manual, System Variables
7.2.4.4

Braking distance estimations

The estimated total braking distance (linear approximation) and the proportional braking
distances of superimposed motions for an axis can be read via the following system variables
(OPI variables). The estimation only takes the current state of the axis into account. It returns,
e.g. the braking distance 0.0 for an axis that is just at the reversal point as part of a circular
path.
Note
The system variables are used for support in the development of user-specific functions as
part of the collision avoidance, and similar functions.
Table 7-1
System variable
Total braking distance
$AA_DTBREB[<a>]
Proportional braking distances for superimposed motions
$AA_DTBREB_CMD[<a>]
$AA_DTBREB_CORR[<a>]
$AA_DTBREB_DEP[<a>]
<a>: Axis name
274
OPI variable
anCollMemAvailable
anCollMemUseMin
1) 1)
anCollMemUseMax
1)
anCollMemUseAct
1) 1)
Basic coordinate system (BCS)
OPI variable
aaDtbreb
aaDtbrebCmd
aaDtbrebCorr
aaDtbrebDep
Meaning
Size of the memory space in KB reserved for the collision
avoidance.
Minimum value of the memory space used for the collision
avoidance as a percentage of the reserved memory.
Maximum value of the memory space used for the collision
1)
avoidance as a percentage of the reserved memory.
Actual value of the memory space used for the collision avoid‐
ance as a percentage of the reserved memory.
Meaning
Estimated, linearly approximated total braking dis‐
tance
Command component
Correction component
Coupling component
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions