Determining The Clearance Of Two Protection Zones (Protd) - Siemens SINUMERIK 840D sl Programming Manual

8.4

Determining the clearance of two protection zones (PROTD)

Function
The clearance of two protection zones can be calculated for collision avoidance with
kinematic chains with the PROTD function.
Function properties:
● The clearance calculation is performed independent of the protection zone status
● The clearance calculation is performed with the positions valid at the end of the previous
● Overlays that are included in the main run calculation (e.g. DRF offset or external work
Collision
If there is a collision between the two specified protection zones, the function returns a
clearance of 0.0. There is a collision when the following applies for the clearance:
0.0 < clearance < MD10619 $MN_COLLISION_TOLERANCE (tolerance for collision check)
The safety clearance for the collision check (MD10622 $MN_COLLISION_SAFETY_DIST) is
not taken into account in the clearance calculation.
Syntax
[<RetVal>=] PROTD(<Name_1>,<Name_2>,VAR <Vector>[,<System>])
[<RetVal>=] PROTD(,,VAR <Vector>[,<System>])
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
(activated, deactivated, preactivated).
block.
offset) are included in the clearance calculation with the values valid at the function
interpretation time.
Note
Synchronization
If the PROTD function is used, it is the sole responsibility of the user to synchronize the
main run and preprocessing, if required, with the STOPRE preprocessing stop.
8.4 Determining the clearance of two protection zones (PROTD)
Collision avoidance with kinematic chains
383