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

TE9: Axis pair collision protection
17.5 Examples
Retraction direction: A12 in positive direction, A1 in positive direction
• MD61517 $MN_CC_PROTECT_SAFE_DIR[1] = 01 01
Offset vector from machine coordinate system machine_A12 to machine_A1 with reference to
machine_A1
• MD61518 $MN_CC_PROTECT_OFFSET[1] = 32.0
Example protection window, 5.0 mm
• MD61519 $MN_CC_PROTECT_WINDOW[1] = 5.0
Orientation of the machine coordinate systems to one another: opposite direction
• MD61532 $MN_CC_PROTECT_DIR_IS_REVERSE[1] = 1
Protection window extension: by 5.0 mm to give a total of 10.0 mm
• MD61533 $MN_CC_PROTECT_WINDOW_EXTENSION[1] = 5.0
17.5.2

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 17-3 Collision protection and distance limiter for one axis pair
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
678
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions