Examples

Minimum permitted distance

Programing Example

Minimum permitted distance between a collision pair

Initialisation in the axis parameter list of X1

kopf.achs_nr              1

kenngr.achs_mode          0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr              2

kenngr.achs_mode          0x8001

kenngr.coll_check_ax_nr   1

kenngr.coll_offset        200000

Axis motion direction

The collision monitor assumes that the axes affected move in the same direction. If a motion in positive direction was programmed for the two axes in a collision pair, the axes also move mechanically in the same direction.

If this precondition is not fulfilled, it must be displayed in P-AXIS-00262 (coll_moving_dir_inverted) of the master axis.

Programing Example

2-channel collision pair with mechanically inverted motion directions

Channel 1:

Initialisation in the axis parameter list of X1

kopf.achs_nr                       1

kenngr.achs_mode                   0x8001

Channel 2:

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr                       6

kenngr.achs_mode                   0x8001

kenngr.coll_check_ax_nr            1

kenngr.coll_offset                 200000

kenngr.coll_moving_dir_inverted    1

kenngr.coll_decelerate_chan        1

Zero positions of the axes

If the collision axes do not have the same zero position, then enter the zero offset in P-AXIS-00263 (coll_zero_position_offset). The value of the P-AXIS-00263 is equal to the position of the zero position of the collision partner axis in the axis coordinate system of the master axis.

Programing Example

Collision pair with different zero positions

Initialisation in the axis parameter list of X1

kopf.achs_nr                       1

kenngr.achs_mode                   0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr                       2

kenngr.achs_mode                   0x8001

kenngr.coll_check_ax_nr            1

kenngr.coll_offset                 200000

kenngr.coll_zero_position_offset   -1000000

Configuration of 2 collision pairs

Programing Example

Configuration of 2 collision pairs

This example defines two collision pairs (X1-X2, X2-X3):

Initialisation in the axis parameter list of X1

kopf.achs_nr                        1

kenngr.achs_mode                    0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr                        2

kenngr.achs_mode                    0x8001

kenngr.coll_check_ax_nr             1

kenngr.coll_offset                  200000

Initialisation in the axis parameter list of X3 (collision partner of X2)

kopf.achs_nr                        3

kenngr.achs_mode                    0x8001

kenngr.coll_check_ax_nr             2

kenngr.coll_offset                  300000