General Sequence - Siemens SINUMERIK 840D sl Commissioning Manual

14.2

General sequence

The following steps are required to create a machine model:
● Activating the option
● Setting machine data
● Create kinematic structure (with kinematic elements)
● Creating protection areas
● Creating protection area elements
● Define collision pairs
14.3 Set collision avoidance
Enable function
Set the following machine data item in order to enable the function:
MD19830 $ON_COLLISION_MASK
Parameter assignment
No. Identifier
MD10619 $MN_COLLISION_TOLERANCE
MD10622 $MN_COLLISION_SAFETY_DIST
MD18896 $MN_MM_MAXNUM_3D_COLLISION
MD18880 $MM_MAXNUM_KIN_CHAIN_ELEM
MD18885 $MN_ROOT_KIN_ELEM_NAME
MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS
MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM
MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM
MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN
MD18895 $MN_MM_MAXNUM_3D_FACETS
MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
Bit 0 Collision avoidance (machine, tool)
14.2 General sequence
Functional scope of the collision avoidance
Meaning
Collision tolerance
Safety clearance
Memory location for the collision avoidance
Maximum number of elements for kinematic
chains
Name of the first element in the kinematic chain
Maximum number of protection areas
Maximum number of protection area elements
Maximum number of tool protection area
elements
Maximum number of NC/PLC interface signals for
the preactivation of protection areas
Maximum number of triangles for protection
areas
Maximum number of triangles for automatic tool
protection areas
Collision avoidance
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