Description Of Collision Protection; Defining Protection Pairs; Switching Collision Protection On / Off - Siemens sinumerik 840D sl Function Manual
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2.3 Description of collision protection
2.3
Description of collision protection
2.3.1
Defining protection pairs
A ProtecSlave axis (PSlave) is matched to its ProtecMaster (PMaster) axis via the following
axial machine data:
MD63542 $MA_CC_PROTECT_MASTER (specifies the PMaster axis assigned to a PSlave
axis)
The protection pairs can thus be defined independently of the coupling pairs. A PSlave axis
may act as the PMaster axis for another axis. The axes must be either both rotary axes or
both linear axes.
2.3.2
Switching collision protection ON / OFF
The minimum clearance between PSlave and PMaster is provided in the axial machine data
of the PSlave axis:
MD63544 $MA_CC_COLLISION_WIN (collision protection window)
No collision protection is implemented if the value entered here is less than 0. The 0 position
offset between PSlave and PMaster is provided in the axial machine data (PSlave axis):
MD63545 $MA_CC_OFFSET_MASTER ( zero point offset between PSlave and PMaster)
Before the collision protection is switched on, the monitoring function for each individual axis
must be enabled in the following machine data:
MD63543 $MA_CC_PROTECT_OPTIONS
In the same machine data for the PSlave axis, a setting is entered to specify whether the
collision protection must be active continuously or whether it is activated via VDI interface
signal (PLC => NC):
DB31, ... DBX24.3
If collision protection is active, the setpoint positions of the PSlave and PMaster in the next
IPO cycle are extrapolated and monitored in the IPO clock cycle using the current setpoint
position and current velocity.
If the axes violate the minimum clearance, they are braked at the configured maximum
acceleration rate:
MD32300 $MA_MAX_AX_ACCEL (Axis acceleration)
Or at a 20% faster acceleration rate, defined in machine data:
MD63543 $MA_CC_PROTECT_OPTIONS
An alarm is output as soon as the axes reach zero speed.
10
Special functions: MCS Coupling (TE6)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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