Rockwell Automation 8520 9/Series CNC Lathe - Manual (Page 761)

Chapter 30
Using a 9/Series Dual--Processing System
30-21
Using Interference Checking to Prevent Collisions
When two protected areas are about to collide, the control suspends
motion, stopping one or both of the processes and preventing a collision.
In Example 30.7, process 1 will collide with process 2. Since process 2 is
stationary, the control puts process 1 in cycle suspend to prevent a
collision. Once the control detects the collision, it suspends the action.
Interference checking operates in real time. It is not checked in block
lookahead. The control detects a collision immediately before the
boundaries overlap and suspends one or both of the processes, halting the
axes with an abrupt, undecelerated stop.
Example 30.7
Collision Programmed with Interference Checking On
Process 1 Process 2
N1 G90 G70; N1 G90 G70;
N2 G00 Z-2.1 X-2.1; N2 G00 Z6 X6;
N3 G00 Z8 X9; N3 M30;
N4 M30;
Figure 30.9
Results of Example 30.7
Z
6 8
4
6
X
8
10
10 --2
--2
Process 2
Process 1
2
Collision avoided
immediately before
boundaries overlap
4 2
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