Siemens SINUMERIK 840D sl Function Manual

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TE9: Axis pair collision protection17.3 StartupSpecial Functions672 Function Manual, 09/2011, 6FC5397-2BP40-2BA017.3.4 Retraction directionThe direction of travel for retracting the corresponding machine axis is entered in the followingitem of machine data:MD61517 $MN_CC_PROTECT_SAFE_DIR[n] = yy xxxx = retraction direction for the 1st axis in the pairyy = retraction direction for the 2nd axis in the pairRetraction in the positive direction of travel of the machine axis: xx or yy > 0Retraction in the negative direction of travel of the machine axis: xx or yy = 017.3.5 Offset for the machine coordinate systemsThe offset vector for the machine coordinate systems of both machine axes in the axis pair isspecified in the following item of machine data:MD61518 $MN_CC_PROTECT_OFFSET[n] = If both machine axes are located in separate machine coordinate systems, the offset vector isspecified as a vector from the origin of the machine coordinate system for the 2nd axis in thepair to the origin of the machine coordinate system for the 1st axis in the pair, with referenceto the machine coordinate system for the 1st axis of the pair.If both machine axes in the axis pair are located in the same machine coordinate system, anoffset vector of 0 must be specified.NOTICESame axis typesThe machine axes in an axis pair must be of the same axis type:• Linear axis• Rotary axisModulo rotary axesThe machine axes in an axis pair must not be of the "modulo rotary axis" axis type.NOTICEMachine data changeA change to machine data item $MN_...SAFE_DIR[n] must only be activated when theprotection function is inactive ($MN_...PAIRS[n] = 0).NOTICEMachine data changeA change to machine data item $MN_... OFFSET[n] must only be activated when theprotection function is inactive ($MN_...PAIRS[n] = 0).