Examples; Collision Protection - Siemens SINUMERIK 840D sl Function Manual

17.5

Examples

17.5.1

Collision protection

The figure shows the arrangement of 3 machine axes and the offset and orientation of the
machine coordinate systems (machine).
Figure 17-2 Collision protection for 2 axis pairs
Parameter assignment: Protection function 1
Axis pair: 1st machine axis A3, 2nd machine axis A1
• MD61516 $MN_CC_PROTECT_PAIRS[0] = 01 03
Retraction direction: A1 in negative direction, A3 in positive direction
• MD61517 $MN_CC_PROTECT_SAFE_DIR[0] = 00 01
Offset vector from machine coordinate system machine_A1 to machine_A3 with reference to
machine_A3
• MD61518 $MN_CC_PROTECT_OFFSET[0] = 70.0
Example protection window, 10.0 mm
• MD61519 $MN_CC_PROTECT_WINDOW[0] = 10.0
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
Parameter assignment: Protection function 2
Axis pair: 1st machine axis A1, 2nd machine axis A12
• MD61516 $MN_CC_PROTECT_PAIRS[1] = 12 01
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE9: Axis pair collision protection
17.5 Examples
677