Configuring Example - Siemens SINUMERIK 840D sl Function Manual

TE6: MCS coupling
14.3 Description of collision protection
If the axes are forced to brake, the positions displayed in the workpiece coordinate system
are incorrect!
These are not re-synchronized again until a system RESET.
If the axes are already violating the minimum clearance when collision protection is activated,
they can only be traversed in one direction (retraction direction). The retraction direction is
configured in machine data:
MD63543 $MA_CC_PROTECT_OPTIONS
The collision protection status is optionally displayed in axial VDI-Out byte of the PSlave:
DB31, ... DBX66.0 (activate monitoring)
• DB31, ... DBX66.0=1 → collision protection active
• DB31, ... DBX66.0=0 → collision protection inactive
This output is activated via Bit7 in machine data of the PSlave axis:
MD63543 $MA_CC_PROTECT_OPTIONS
14.3.3

Configuring example

Figure 14-2
Note
Since the collision protection function extrapolates the target positions from the "current
velocity + maximum acceleration (or +20%)", the monitoring alarm may be activated
unexpectedly at reduced acceleration rates:
Example:
PMaster = X, PSlave = X2, $MA_CC_COLLISION_WIN = 10mm
Starting point in part program: X=0.0 X2=20.0
N50 G0 X100 X2=90
; the monitoring alarm is activated because X and X2 are interpolating together: for this
reason, the acceleration rate of X2 < maximum acceleration.
Remedy:
• N50 G0 POS[X]=100 POS[X2]=90
• or switch the monitoring function off.
604
WARNING
Configuring example
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions