ID 70162

Collision offsets different.

Description

In the axis parameters, two axes are configured mutually as collision partners. Different minimum permissible position distances (see P-AXIS-00045) for collision detection are specified for both axes. In this case the collision monitoring function (s. @@[FCT-C3]) uses the larger distance.

Example (from axis parameters):

1. Axis: kopf.achs_nr 1

achs_mode 0x8001

kenngr.coll_check_ax_nr 2

kenngr.coll_offset 200000

2. Axis: kopf.achs_nr 2

achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 300000

Correct:

1. Axis: kopf.achs_nr 1

achs_mode 0x8001

kenngr.coll_check_ax_nr 2

kenngr.coll_offset 300000

2. Axis: kopf.achs_nr 2

achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 300000

See also [FCT-C3// Section: Overview]

Response

Class

1

Warning

Solution

Class

1

Correct specified position distances see P-AXIS-00045

Parameter

%1:

Logical axis number [-]

Logical axis number of first axis see P-AXIS-00016

%2:

Current value [-]

Minimum permissible position distance see P-AXIS-00045

%3:

Logical axis number [-]

Logical axis number of second axis see P-AXIS-00016

%4:

Current value [-]

Minimum permissible position distance see P-AXIS-00045

%5:

Corrected value [-]

Minimum permitted position distance used in collision monitoring function

Error type

-