Siemens SINUMERIK 840D sl Function Manual page 279

Function properties:
● The clearance calculation is performed independent of the protection area state (activated,
deactivated, preactivated).
● The clearance is calculated at the interpretation instant of the function with the axis positions
valid at the end of the previous block.
● Overlays that are included in the main run calculation, e.g. DRF offset or external work
offsets, are included in the clearance calculation with the values valid at the function
interpretation time.
Note
Synchronization
When using the PROTD() function, it is the sole responsibility of the user to synchronize
the main run and preprocessing, if required, with the STOPRE preprocessing stop.
Collision
If there is a collision between the specified protection areas, the function returns a clearance
of 0.0. There is a collision if both the protection areas touch or intersect each other.
The safety clearance for the collision check (MD10622 $MN_COLLISION_SAFETY_DIST) is
not taken into account in the clearance calculation.
Syntax
[<RetVal> = ] PROTD([<Name_1>],[<Name_2>],VAR <Vector>[,<System>])
Meaning
PROTD:
<RetVal>:
<Name_1>,
<Name_2>:
<Vector>:
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Calculates the clearance of the two specified protection areas.
Supplementary condition: Must be alone in the block
Function return value: Absolute clearance value of the two protection areas or 0.0
with collision (see above: collision paragraph)
Data type: REAL
Range of values: 0.0 ≤ x ≤ +max. REAL value
Names of the two protection areas whose clearance is to be calculated.
Data type: STRING
Default value: "" "" (empty string)
Range of values: Parameterized protection area names
Return value: 3-dimensional clearance vector from protection area <Name_2> to
protection area <Name_1> with:
● <Vector>[0]: X coordinate in the world coordinate system
● <Vector>[1]: Y coordinate in the world coordinate system
● <Vector>[2]: Z coordinate in the world coordinate system
With collision: <Vector> == zero vector
Data type: VAR REAL [3]
Range of values: <Vector>[n]: 0.0 ≤ x ≤ ±max. REAL value
K9: Collision avoidance - only 840D sl
7.3 Programming
279