Interpolatory Couplings; Examples; Collision Protection - Siemens SINUMERIK 840D sl Function Manual

TE9: Axis pair collision protection

21.5 Examples

21.4.3

Interpolatory couplings

Assumption
1. A machine axis is part of an interpolatory coupling, e.g.:
– Generic coupling (CP)
– Coupled motion(TRAIL)
– Master value coupling (LEAD)
– Electronic gear (EG)
– Synchronous spindle(COUP)
2. The machine axis is not traversed in the first channel of the NC.
3. The machine axis is monitored using the "axis pair protection" function.
Effect
If the machine axis is not traversed in the first channel of the NC, then the components, created
from the interpolatory couplings for the position and velocity setpoint are only available after
a deadtime of one interpolator clock cycle of the "axis pair collision protection" function.
Therefore, the machine axes are monitored, offset by these components. The absolute value
of the components is independent of the interpolator clock cycle and the actual velocity and
acceleration of the machine axis.
21.5 Examples
21.5.1

Collision protection

The figure shows the arrangement of 3 machine axes and the offset and orientation of the
machine coordinate systems (machine).
Figure 21-2
754
Collision protection for 2 axis pairs
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions