Siemens SINUMERIK 840DE sl Commissioning Manual page 332

Collision avoidance
14.7 Creating a kinematic structure
Parameter
Use
File name
Offset (X)
Offset (Y)
Offset (Z)
Rotary axis (X)
Rotary axis (Y)
Rotary axis (Z)
Angle of rotation
See also
Creating protection area elements (Page 306)
Sphere and parallel sphere protection area elements (Page 311)
14.7.4 Collision pair
14.7.4.1 Creating a collision pair
Using collision pairs, you define the two protection areas, which should mutually monitor
themselves regarding collision.
Precondition
A kinematic chain has been created and includes valid protection areas.
318
Meaning
● Display
The protection area element is shown in the graphic view.
The element is only visible if the "Display model" softkey is active.
The element is not monitored for collision.
● Monitoring
The protection area element is used for the collision avoidance.
The element is only visible if the "Monit. model" softkey is active.
● Display + monitoring
The protection area element is used for display in the graphic view
and for collision avoidance.
The element is visible in both display versions.
Name of the file with the description of the protection area element in
STL format.
X component of the direction vector.
Y component of the direction vector.
Z component of the direction vector.
X component of the rotation vector.
Y component of the rotation vector.
Z component of the rotation vector.
The value by which the system rotates around the rotation vector.
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
SINUMERIK Operate (IM9)