Collision Pair - Siemens SINUMERIK 840D sl Commissioning Manual

Parameter
Offset (X)
Offset (Y)
Offset (Z)
Rotary axis (X)
Rotary axis (Y)
Rotary axis (Z)
Angle of rotation
See also
Creating protection area elements (Page 253)
Sphere and parallel sphere protection area elements (Page 257)
14.7.4

Collision pair

14.7.4.1 Creating a collision pair
Using collision pairs, you define the two protection areas, which should mutually monitor
themselves regarding collision.
Precondition
A kinematic chain has been created and includes valid protection areas.
Procedure
See also
Collision pair (Page 264)
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
Meaning
X component of the direction vector.
Y component of the direction vector.
Z component of the direction vector.
X component of the rotation vector.
Y component of the rotation vector.
Z component of the rotation vector.
The value by which the system rotates around the rotation vector.
1. Position the cursor in the tree view on the "Collision groups" folder.
The "New collision element" selection window opens.
2. Select "Collision pair" and press the "OK" softkey.
3. Enter the values and press the "OK" softkey to confirm the entries.
Collision avoidance
14.7 Creating a kinematic structure
263