Siemens SINUMERIK 840DE sl Commissioning Manual page 330

Collision avoidance
14.7 Creating a kinematic structure
Parameter
Use
Height (Z)
Lower radius
Upper radius
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)
14.7.3.7 File and parallel 3D file protection area element
You can specify the dimensions and position as well as values for the display and collision
monitoring of a sphere-shaped protection area element in the "Sphere" window.
The file used here contains a grid of triangular areas in the STL format, with which you can
display bodies with complicated shapes.
Note
Coordinate origin
The coordinate origin of the file does not have to match the coordinate system of the machine.
You align the coordinate system using offsets and rotations.
316
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.
Height of cone in Z direction.
Specification of the radius R1
Specification of the radius R2
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)