Siemens SINUMERIK 840C - Manual (Page 1090)

07.97 12 Functional Descriptions
12.32 Collision monitoring (as from SW 6)
12.32 Collision monitoring (as from SW 6)
12.32.1 General description
The ”Collision monitoring” function prevents collision of moving and stationary parts of the
machine.
A protection zone (abbreviation SR) can be defined for a machine part requiring protection.
The distance between protection zones is calculated in IPO cycles. If two protection zones
come close, the axes involved are braked to zero speed.
For technical reasons, it is impossible to guarantee that the distance between the protection
zones is equal to 0 mm when the axes are stopped. The where will necessarily be a small
overlap between the protection zones (less than 1 mm). We therefore recommend that you do
not dimension the protection zones exactly round the machine parts but allow a safety zone of
approximately 1-2 mm.
12.32.2 Defining a protection zone
The protection zones in collision monitoring are defined as cuboids. Starting from a machine
reference point M for stationary of F for moving protection zones, the protection zone
reference point P1 is defined. The protection zone coordinate system with its coordinates X, Y,
and Z which is parallel with the axes of the machine coordinate system is in the protection
zone reference point P1.
The dimensions of the protection zone must be specified as sections on the positive
coordinates X, Y and Z of the protection zone coordinate system.
In the event of an error, alarm 111 ”Error in collision monitoring data” is output with the code:
04=protection zone dimensions missing
or
05=negative protection zone dimensions.
Definition of a moving protection zone
M
Z
Y
X
Protection zone
Sn P1
F FP vector
(protection zone reference point vector)
Dimension vector
© Siemens AG 1992 All Rights Reserved 6FC5197- AA50 12–315
SINUMERIK 840C (IA)