Te9: Axis Pair Collision Protection; Brief Description; Functional Description - Siemens SINUMERIK 840D sl Function Manual

TE9: Axis pair collision protection

21.1

Brief description

21.1.1 Brief description
Function
The "axis pair collision protection" function enables machine axes, which are arranged on the
same guide element of a machine, to be monitored in pairs to ensure that no collisions occur
and that the maximum distance between the two axes is not exceeded.
Function code
The code for function-specific identifiers of machine data, system variables, etc., is:
PROTECT (axial collision PROTECTion)
References
The "axis pair collision protection" function is realized as compile cycle. For the handling of
compile cycles (see Chapter "TE01: Installation and activation of loadable compile cycles
(Page 549)".
21.2

Functional description

The "axis pair collision protection" function is a protection function for machine axes which are
arranged in a machine tool in such a way (on the same guide rail, for example) that incorrect
operation or programming could cause them to collide with one another.
The machine axes are always monitored in pairs, i.e. parameters always need to be assigned
for two machine axes in each case, which are then monitored in relation to one another. The
machine axes being monitored may be located in different machine coordinate systems.
Collision protection
The function uses the current actual positions and actual velocities, as well as the offset for
the machine coordinate systems and the axis-specific brake acceleration values, to calculate
the distance between the standstill positions of the machine axes, on a cyclical basis. If the
resulting distance is shorter than the protection window that has been set, the machine axes
are decelerated to a standstill. This ensures that the minimum distance defined using the
protection window is not undershot.
Special functions
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