Monitoring A Safety Clearance Between Two Axes - Siemens SINUMERIK 840Di sl Function Manual

Examples

5.4 Monitoring a safety clearance between two axes

Figure 5-3
Polynomial 2:
Lower limit: 1
Hi limit: 100
a : 100
0
a : -100
1
a : -100
2
a : not used
3
With these values, the polynomial definition is as follows:
FCTDEF(2, 1, 100, 100, -100, -100)
; Activation of the variable override as a function of the path:
ID= 1 DO SYNFCT (2, $AC_OVR, $AC_PATHN)
G01 X100 Y100 F1000
5.4 Monitoring a safety clearance between two axes
Task
The axes X1 and X2 operate two independently controlled transport devices used to load
and unload workpieces.
To prevent the axes from colliding, a safety clearance must be maintained between them.
If the safety clearance is violated, then axis X2 is decelerated. This interlock is applied until
axis X1 leaves the safety clearance area again.
If axis X1 continues to move towards axis X2, thereby crossing a closer safety barrier, then it
is traversed into a safe position.
138
Regulate velocity continuously
Function Manual, 11/2006, 6FC5397-5BP10-2BA0
Synchronized actions