Collision Avoidance - Siemens SINUMERIK 840D sl Commissioning Manual

Collision avoidance

14.1 Overview
With the aid of collision avoidance, you can avoid collisions and therefore major damage
during the machining of a workpiece or when creating programs.
Collision avoidance is based on a machine model. The kinematics of the machine are
described as a kinematic chain. For machine parts, which are to be protected, protection
areas are attached to these chains. The geometry of the protection areas is defined using
protection area elements. The control then knows how they move in the machine coordinate
system depending on the position of the machine axes. You then subsequently define the
collision pairs, i.e. two protection areas, which are monitored with respect to one another.
The "Collision avoidance" function regularly calculates the clearance from these protection
areas. When two protection areas approach one another, and a specific safety clearance is
reached, an alarm is displayed and before the corresponding traversing block, the program
is stopped and/or the traversing motion is stopped.
Data of the machine model
The machine model data are entered into the system variables.
Note
Commissioning a machine model
You required access level 1 (manufacturer) for creating and editing a machine model.
Note
The collision monitoring is only valid for single-channel machines
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
Software option
You require the "Collision avoidance (machine, working area)" software option in
order to use this function.
Machine manufacturer
Please refer to the machine manufacturer's specifications.
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