Collision Avoidance - Siemens SINUMERIK 840D sl Universal Operating Manual
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Also See for SINUMERIK 840D sl Universal:
- Function manual (2184 pages) ,
- Programming manual (1334 pages) ,
- Commissioning manual (1102 pages)
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Collision avoidance
Collision avoidance allows you to avoid collisions and damage while machining a workpiece or
creating programs.
Collision avoidance is based on a machine model. The kinematics of the machine are described
as a kinematic chain. For machine parts to be protected, protection areas are attached to these
chains. The geometry of the protection areas is defined using protection area elements. The
control then knows how they move in the machine coordinate system depending on the
position of the machine axes. You then subsequently define the collision pairs, i.e. two
protection areas, which are monitored with respect to one another.
The "Collision avoidance" function regularly calculates the clearance from these protection
areas. When two protection areas approach one another and a specific safety clearance is
reached, an alarm is displayed and the program is stopped before the corresponding traversing
block and/or the traversing motion is stopped.
Note
The collision monitoring is only valid for single-channel machines.
Note
Referenced axes
The positions of the axes in the machine area must be known so that the protection areas can
be monitored. For this reason, collision avoidance is only active after the referencing.
Universal
Operating Manual, 07/2021, 6FC5398-6AP40-6BA4
Software option
You require the "Collision Avoidance ECO (machine)" software option in order to use
this function for geometrically primitive protection area elements.
Software option
You require the "Collision Avoidance (machine, working area)" software option in order
to use this function additionally for protection area elements in the STL and NPP data
formats.
Software option
You require the "Collision Avoidance ADVANCED (machine, workpiece)" software op‐
tion in order to use this function additionally for the autonomous realization of collision
avoidance application.
Machine manufacturer
Please observe the information provided by the machine manufacturer.
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