Siemens sinumerik 840D sl Function Manual

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Contents

Detailed description2.3 Description of collision protectionSpecial functions: MCS Coupling (TE6)10 Function Manual, 11/2006, 6FC5397-2BP10-2BA02.3 Description of collision protection2.3.1 Defining protection pairsA ProtecSlave axis (PSlave) is matched to its ProtecMaster (PMaster) axis via the followingaxial machine data:MD63542 $MA_CC_PROTECT_MASTER (specifies the PMaster axis assigned to a PSlaveaxis)The protection pairs can thus be defined independently of the coupling pairs. A PSlave axismay act as the PMaster axis for another axis. The axes must be either both rotary axes orboth linear axes.2.3.2 Switching collision protection ON / OFFThe minimum clearance between PSlave and PMaster is provided in the axial machine dataof the PSlave axis:MD63544 $MA_CC_COLLISION_WIN (collision protection window)No collision protection is implemented if the value entered here is less than 0. The 0 positionoffset between PSlave and PMaster is provided in the axial machine data (PSlave axis):MD63545 $MA_CC_OFFSET_MASTER ( zero point offset between PSlave and PMaster)Before the collision protection is switched on, the monitoring function for each individual axismust be enabled in the following machine data:MD63543 $MA_CC_PROTECT_OPTIONSIn the same machine data for the PSlave axis, a setting is entered to specify whether thecollision protection must be active continuously or whether it is activated via VDI interfacesignal (PLC => NC):DB31, … DBX24.3If collision protection is active, the setpoint positions of the PSlave and PMaster in the nextIPO cycle are extrapolated and monitored in the IPO clock cycle using the current setpointposition and current velocity.If the axes violate the minimum clearance, they are braked at the configured maximumacceleration rate:MD32300 $MA_MAX_AX_ACCEL (Axis acceleration)Or at a 20% faster acceleration rate, defined in machine data:MD63543 $MA_CC_PROTECT_OPTIONSAn alarm is output as soon as the axes reach zero speed.