Siemens SINUMERIK 840DE sl Commissioning Manual page 336

Collision avoidance
14.8 Collision avoidance example
Structure of the geometric machine modeling
The kinematic chain begins with the first offset kinematic element that represents the machine
zero. The other kinematic elements form the linear axes X, Y and parallel Z. The protection
area is used to define the basic bodies of the machine and tools. The movable protection areas
are linked with the associated linear axis; the unmovable protection area is linked with the
offset.
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Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
SINUMERIK Operate (IM9)