Programming; Check For Collision Pair (Collpair) - Siemens SINUMERIK 840D sl Function Manual

Table 7-2
System variable
Total braking distance
$AA_DTBREM[<a>]
Proportional braking distances for superimposed motions
$AA_DTBREM_CMD[<a>]
$AA_DTBREM_CORR[<a>]
$AA_DTBREM_DEP[<a>]
<a>: Axis name
References
For a detailed description of the system variables, refer to:
List Manual, System Variables
7.3

Programming

7.3.1

Check for collision pair (COLLPAIR)

Function
The COLLPAIR() function determines whether two protection areas form a collision pair.
Syntax
[<RetVal> = ] COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Machine coordinate system (MCS)
OPI variable
aaDtbrem
aaDtbremCmd
aaDtbremCorr
aaDtbremDep
K9: Collision avoidance - only 840D sl
Meaning
Estimated, linearly approximated total braking dis‐
tance
Command component
Correction component
Coupling component
7.3 Programming
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