Siemens SINUMERIK 840DE sl Commissioning Manual page 328

Collision avoidance
14.7 Creating a kinematic structure
Parameter
Use
Height (Z)
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)
14.7.3.6 Protection area element cone and parallel cone
You can specify the dimensions and position as well as values for the display and collision
monitoring of a cone-shaped protection area element in the "Cone" window.
Note
Cone shape
The cone shape may vary between a classic cone and a truncated cone. The following
parameter entries are permissible:
● Only values > 0 are valid for the lower radius.
● Only values > 0 are valid for the height.
● Values ≥ 0 (default value 0) are valid for the upper radius.
To obtain an inverted truncated cone, the lower radius may be less than the upper radius.
314
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 the cylinder in the
Z direction.
Specification of the radius
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)