Collision Protection And Distance Limiter - Siemens SINUMERIK 840D sl Function Manual

TE9: Axis pair collision protection
21.5 Examples
21.5.2

Collision protection and distance limiter

The figure shows the arrangement of two machine axes, the offset and orientation of the
machine coordinate systems (machine), and the minimum and maximum distance vectors.
Figure 21-3
Parameter assignment: Protection function 1 - Collision protection
Axis pair: 1st machine axis A1, 2nd machine axis A3
● MD61516 $MN_CC_PROTECT_PAIRS[0] = 03 01
Retraction direction: A1 in negative direction, A3 in positive direction
● MD61517 $MN_CC_PROTECT_SAFE_DIR[0] = 01 00
Offset vector from machine coordinate system machine_A3 to machine_A1 with reference to
machine_A1
● MD61518 $MN_CC_PROTECT_OFFSET[0] = -100.0
Example protection window, 40.0 mm
● MD61519 $MN_CC_PROTECT_WINDOW[0] = 40.0
Orientation of the machine coordinate systems to one another: same direction
● MD61532 $MN_CC_PROTECT_DIR_IS_REVERSE[0] = 0
Protection window extension: none
● MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[0] = 0.0
756
Collision protection and distance limiter for one axis pair
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions