Siemens SINUMERIK 840D sl Programming Manual page 381

Syntax
PROTA
PROTA(<Par>)
Meaning
PROTA
<Par>
Supplementary conditions
Simulation
The PROTA procedure must not be used in part programs in conjunction with the simulation
(simNCK).
Example:
Program code
...
IF $P_SIM == FALSE
PROTA
ENDIF
...
References
Function Manual, Special Functions; Section K9: Collision avoidance
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
: Request for a recalculation of the collision model
Preprocessing
stop:
: Parameter
Data type:
Range of
values:
8.2 Requesting a recalculation of the collision model (PROTA)
Yes
STRING
"R"
With the recalculation of the collision model, all protection zones are
reset to their respective initialization status.
Comment
;IF simulation not active
;THEN recalculate collision model
;ENDIF
Collision avoidance with kinematic chains
381