Siemens SINUMERIK 840D sl Function Manual page 258

K9: Collision avoidance - only 840D sl
7.1 Function description
The collision tolerance is set the same for all collision pairs via MD10619
$MN_COLLISION_TOLERANCE (Page 267).
Note
Difference between collision tolerance and safety clearance
The collision tolerance can be violated and is permissible. The safety clearance is always
maintained.
Responses in the operating mode: AUTOMATIC
Collision detection during preprocessing
In automatic mode, the traversing blocks of the active program are already checked during the
preprocessing. If a collision is already detected there, this results in the following reactions:
● Stop of the traversing motions in the channel
● NC/PLC interface signal: DB21,... .DBX377.0 = 1 (collision avoidance: velocity reduction)
● Display of alarm 26260 with the block number of the relevant traversing block
● Cancelation of the program processing
Critical approach
Even in automatic mode, superimposed or asynchronous motions can occur that cannot be
considered in advance. For this reason, the traversing velocity is reduced or the traversing
motion is totally stopped at a critical approach of protection areas:
● Axial NC/PLC interface signal at a reduction of the traversing velocity:
DB31, ... .DBX77.0 == 1 (collision avoidance: velocity reduction)
● Channel-specific NC/PLC interface signal at a stop of the traversing motion:
DB21, ... .DBX377.0 == 1 (collision avoidance: stop)
Preactivated protection areas
If during the block processing in the preprocessing, it is determined in a traversing block that
two protection areas, of which at least one is only preactivated, would collide if they were active,
this does not yet produce the same reactions as described above in the "Collision detection
during preprocessing". The reactions only occur when both protection areas are active.
If the block at the activation time is already being traversed in the main run, a collision is
detected based on the collision calculation during preprocessing and the above reactions
triggered. The collision is detected irrespective of whether the protection areas are actually
colliding at the activation time.
Responses in the operating mode: JOG
If two protection areas approach one another when traversing in the JOG mode, the traversing
velocity is continuously braked down to standstill when the collision clearance is reached.
Alarm 26280 is output when the collision clearance is reached.
If the collision location is exited in the opposite direction, a continuously higher traversing
velocity is possible depending on the clearance of the protection areas.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions