Siemens sinumerik 840D sl Function Manual page 817

Example
Result
In each interpolation cycle, the control calculates the positions of the two axes, if they are
braked at maximum acceleration (MD63514 $MA_CC_PROTECT_ACCEL).
If the destination points are located inside the protection window, then the axis moving in the
direction of collision is braked.
The control closes even if the maximum braking acceleration is less than the current
acceleration of the interpolators (MD32200 $MA_MAX_AX_ACCEL * (MD32433
$MA_SOFT_ACCEL_FACTOR or
MD32434 $MA_G00_ACCEL_FACTOR))!
Notice
A possible path group is cancelled. The axes do not brake on the programmed pathl! An
alarm 75653 is output as soon as the axes reach zero speed.
12
Special functions: Axis pair collusion protection (TE9)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0