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Programming of Traversing Blocks
4.10
Collision monitoring (G96, G97)
By means of the collision monitoring function, the axes can quickly be stopped, triggered by
the selection of a rapid input.
G96:
Selection of collision monitoring
When reading in a traversing block with G96, collision monitoring will be activated
release of the inquiry of the rapid input.
G97:
Deselection of collision monitoring
When reading in a traversing block with G97, collision monitoring will be deactivated
the rapid input will no longer be inquired.
In basic position, G97 is active. G96 and G97 are modally effective.
4.10.1 Specifying a deceleration value
With the "Deceleration at collision" command, the braking deceleration of the axis in case of
collision can be specified. For each axis, a separate value can be specified, the lower input
limit being limited by MD 28 (deceleration).
Designation
Deceleration at collision
The commands are described in the Planning Guide "Command identifiers
for SIMATIC S5 and S7" under AK15 (Options).
4.10.2 Specifying a rapid input
For collision monitoring, a rapid input must be specified with the "Collision" function in MD 15
(rapid inputs).
The rapid input must be preset in MD 15 of the master axis in which the
traversing program is started.
The parameterization of the rapid inputs is described in the Description of
Functions, chapter "Rapid inputs/outputs".
4 – 16
Lower limit
Upper limit
MD 28
©
Siemens AG 1997 All Rights Reserved
04.97
Unit
99 999
2
mm/s
6ZB5 440-0VU02
WF 723 C (Programming Guide)
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