Siemens SINUMERIK 840D sl Commissioning Manual page 273

Basesoftware and operating software

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Structure of the geometric machine modeling

The kinematic chain begins with the first offset kinematic element that represents the

machine zero. The other kinematic elements form the linear axes X, Y and parallel Z. The

protection area is used to define the basic bodies of the machine and tools. The movable

protection areas are linked with the associated linear axis; the unmovable protection area is

linked with the offset.

SINUMERIK Operate (IM9)

Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1

Collision avoidance

14.8 Collision avoidance example

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Sinumerik 840de sl