Siemens SINUMERIK 840DE sl Commissioning Manual page 305

● Create kinematic structure (with kinematic elements)
● Creating protection areas
● Creating protection area elements
● Define collision pairs
14.3 Set collision avoidance
Enable function
Set the following machine data item in order to enable the function:
MD19830 $ON_COLLISION_MASK
Bit 0
Bit 1
Bit 2
Parameter assignment
No. Identifier
MD10619 $MN_COLLISION_TOLERANCE
MD10622 $MN_COLLISION_SAFETY_DIST
MD18896 $MN_MM_MAXNUM_3D_COLLISION
MD18880 $MM_MAXNUM_KIN_CHAIN_ELEM
MD16800 $MN_ROOT_KIN_ELEM_NAME
MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS
MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM
MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM
MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN
MD18895 $MN_MM_MAXNUM_3D_FACETS
MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN
MD18899 $MN_PROT_AREA_TOOL_MASK
MD51160 $MNS_ACCESS_WRITE_CA_MACH_JOG
MD51161 $MNS_ACCESS_WRITE_CA_MACH_AUTO
MD51162 $MNS_ACCESS_WRITE_CA_TOOL
MD16900 $MN_COLLISION_EXT_FUNCTION_MASK
MD16901 $MN_COLLISION_EXT_PREVIEW_TIME
MD16902 $MN_COLLISION_EXT_PREVIEW_STEP
MD16903 $MN_COLLISION_EXT_TIMEOUT
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
Collision avoidance
Collision Avoidance ECO
Collision Avoidance ADVANCED
14.3 Set collision avoidance
Functional scope of the collision avoidance
Meaning
Collision tolerance
Safety clearance
Memory location for the collision avoidance
Maximum number of elements for kinematic chains
Name of the first element in the kinematic chain
Maximum number of protection areas
Maximum number of protection area elements
Maximum number of tool protection area elements
Maximum number of NC/PLC interface signals for
the preactivation of protection areas
Maximum number of triangles for protection areas
Maximum number of triangles for automatic tool pro‐
tection areas
Creation mode for automatic tool protection areas
Write protection level, collision monitoring machine
jog
Write protection level, collision monitoring machine
automatic
Write protection level collision monitoring tool
Parameter assignment for external collision check
Preview time for external collision check
Preview time step for external collision check
Timeout for external collision check
Collision avoidance
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