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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 45

Geometric machine modeling

3.2 Commissioning

Meaning

$NP_NEXTP:

Name of the branching protection area element

Data type:

STRING

Range of values:

All names contained in $NP_NAME (Page 40)

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<name>:

Protection area name

Data type:

STRING

Example

The following parallel protection area element with the name "Coolant nozzle 2" is attached to

the 19th protection area element:

Program code

Comment

N100 $NP_NEXTP[18] = "Coolant nozzle 2"

; 19. Protection area element,

; name of the parallel following

element: "Coolant nozzle 2"

3.2.4.5

$NP_COLOR

Function

Enter the protection area element-specific value for alpha/transparency and color (ARGB) in the

system variable. This value is used for the display of the protection area element on the user

interface. If a specific value is not parameterized for a protection area element, the protection

area-specific value from $NP_PROT_COLOR (Page 32) applies.

Structure

Alpha/transparency and color are specified as a double word in hexadecimal format:

AARRGGBB_H

•

1. - 3. Byte: RGB color value. See Chapter "Color chart (Page 24)".

•

4. Byte: Alpha channel or transparency value

Byte

Meaning

Range of values

OC

1

Blue

0 - 255_D or 0 - FF_H

GG

2

Green

RR

3

Red

AA

4

Alpha channel or transparency ¹⁾

1) 0 = transparent or not visible, 255_D = FF_H = not transparent or filled

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Syntax

$NP_COLOR[<n>] = <name>

Meaning

$NP_COLOR:

Alpha/transparency and color value of the protection area element

Data type:

DWORD

Range of values:

00000000_H - FFFFFFFF_H

Default value:

0000000_H (black, not visible)

<m>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<value>:

Transparency and color value

Data type:

DWORD

Example

The 19th protection area is to be displayed half transparent and in a green-blue color on the user

interface:

• AA = 7F_H = 127_D ≙ 50% transparency

• RR (red) = 00 ≙ no red component

• GG (green) = FF_H = 255_D ≙ 100% green color component

• BB (blue) = 33_H = 51_D ≙ 20% blue color component

Program code

Comment

N100 $NP_COLOR[18] = 'H7F00FF33'

; 19. Protection area,

; alpha/transparency and color

value = 'H7F00FF33'

3.2.4.6

$NP_D_LEVEL

Function

The detail level as of which the protection area element is displayed on the user interface is

specified via the system variable. If no value different from the default value is assigned for a

protection area element the protection area-specific value takes effect $NP_PROT_D_LEVEL

(Page 33).

Detail level

• Lowest detail level: 0

• Highest detail level: 3

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If the detail level x is selected for the visualization of the machine model, all protection areas and

protection area elements are displayed for which the following applies for the detail level D: D ≤

x

Syntax

$NP_D_LEVEL[<n>] = <value>

Meaning

$NP_PROT_D_LEVEL:

Detail level for the protection area element

Data type:

INT

Range of val-

0 ≤ D ≤ 3

ues:

Default value:

0

<m>:

System variable or protection area element index

Data type:

INT

Range of val-

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

ues:

<value>:

Detail level

Data type:

INT

Example

The 19th protection area is always to be displayed ⇒ detail level 0:

Program code

Comment

N100 $NP_PROT_D_LEVEL[18] = 0

; 19. Protection area,

; detail level = 0

3.2.4.7

$NP_USAGE

Function

Enter the protection area element usage in the system variable. The usage specifies how the

protection area element is to be considered for the collision avoidance.

• Only visualization, no collision calculation

• Only collision calculation, no visualization

• Visualization and collision calculation

Usage

Meaning

Visualization

The protection area element is displayed in the machine model on the SINUMERIK Operate user

interface

Collision calculation

The protection area element is also taken into account for the collision calculation

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Syntax

$NP_USAGE[<n>] = "<value>"

Meaning

$NP_USAGE:

Use of the protection area element

Data type:

CHAR

Range of values:

"V", "v", "C", "c", "A", "a"

Value

Meaning

"V" or "v"

Only visualization, no collision calculation

"C" or "c"

Only collision calculation, no visualization

"A" or "a"

Visualization and collision calculation

Default value:

"A"

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<value>:

Usage

Data type:

CHAR

Example

The 19th protection area element is to be displayed at the user interface and included in the

collision calculation:

Program code

Comment

N100 $NP_USAGE[18] = "A"

; 19. Protection area,

; usage = "A"

3.2.4.8

$NP_TYPE

Function

Enter the protection area element type in the system variable.

Type: "FRAME"

A protection area element of the "FRAME" type does not contain any bodies, but defines a

coordinate transformation of the local coordinate system. The coordinate transformation

affects all the following ($NP_NEXT (Page 41)) and/or parallel ($NP_NEXTP (Page 42)) protection

area elements. The values of the coordinate transformation are set via:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

No parameters are specified in $NP_PARA (Page 56) for the "FRAME" type.

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Type: "BOX"

=

<

+

;

%

/

L

Length in the X direction

B

Width in the Y direction

H

Height in the Z direction

A protection area element of the "BOX" type defines a paraxial box in the local coordinate system

of the protection area element. The mid-point of the box is at the origin of the local coordinate

system. At the same time as the definition of the body, the local coordinate system can be

transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameters length, width and height are to be entered in $NP_PARA (Page 56)

Type: "SPHERE"

=

<

5

;

R

Radius of the sphere:

A protection area element of the "SPHERE" type defines a sphere in the local coordinate system

of the protection area element. The mid-point of the sphere is at the origin of the local

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coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameter radius is to be entered in $NP_PARA (Page 56)

Note

Rotation

As the center point of the sphere and the starting point of the direction vector are in the

coordinate origin of the local coordinate system of the protection area element, a rotation using

the direction vector $NP_DIR (Page 58) and angle of rotation $NP_ANG (Page 60) has no

effect on the position of the sphere.

Type: "CYLINDER"

=

<

5

;

H

Height in the Z direction

R

Radius in the X/Y plane

A protection area element of the "CYLINDER" type defines a cylinder in the local coordinate

system of the protection area element. The mid-point of the cylinder is at the origin of the local

coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameters height and radius are to be entered in $NP_PARA (Page 56)

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Type: "CONE"

=

5

<

5

;

H

Height in the Z direction

R1

Radius 1 in the X/Y plane

R2

Radius 2 in the X/Y plane

A protection area element of the "CONE" type defines a cone in the local coordinate system of the

protection area element. The mid-point of the cone (half cone height on the line of symmetry

of the cone) is at the origin of the local coordinate system. At the same time as the definition of

the body, the local coordinate system can be transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameters height, radius 1, and radius 2 must be entered in $NP_PARA (Page 56)

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Type: "TORUS"

=

<

5

5

;

R1

Major radius (= distance from the center of the circle to the center of the torus in the X/Y plane)

R2

Minor radius (= radius of the circle)

A protection area element of the "TORUS" type defines a filled torus in the local coordinate system

of the protection area element. The shape of a torus can most easily be described by a circle

revolved around an axis that lies in its plane. In contrast to a normal torus, however, the hole in

the middle of a filled torus is filled in. The center of the filled torus lies at the origin of the local

coordinate system. At the same time as the definition of the body, the local coordinate system

can be transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameters radius 1 and radius 2 must be entered in $NP_PARA (Page 56)

Type: "FILE"

=

<

;

Figure 3-3

Example bodies in STL format

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A protection area element of the "FILE" type defines a body whose geometry data is contained

in the specified file in STL format (triangular areas), in the local coordinate system of the

protection area element. The zero point of the body is at the origin of the local coordinate

system. At the same time as the definition of the body, the local coordinate system can be

transformed via the following system variables:

• Offset: $NP_OFF (Page 57)

• Rotation direction vector: $NP_DIR (Page 58)

• Angle of rotation: $NP_ANG (Page 60)

The parameter is to be entered in $NP_FILENAME (Page 51):

Syntax

$NP_TYPE[<n>] = "<type>"

Meaning

$NP_TYPE:

Type of the protection area element

Data type:

STRING

Range of values:

"FRAME", "BOX", "SPHERE", "CYLINDER", "CONE",

"TORUS", "FILE"

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<Type>:

Type designation

Data type:

STRING

Example

The 19th protection area element is a cube:

Program code

Comment

N100 $NP_TYPE[18] = "BOX"

; 19. Protection area element,

; type = "Box"

3.2.4.9

$NP_FILENAME

Function

For protection area elements of the "FILE" type ($NP_TYPE (Page 46)), enter the name of the file

that describes the geometry data of the protection area element in the system variable.

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Meaning

$NP_FILENAME:

Name of the STL or NPP file

Data type:

STRING

Default value:

"" (empty string)

<n>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<name>:

Name of the STL or NPP file

Data type:

STRING

Examples

Using an STL file

The geometry data for the 19th protection area element are stored in file KUEHLDUESE_1.STL:

Program code

Comment

N100 $NP_FILENAME[18] = "KUEHLDU-

; 19th protection area element,

ESE_1.STL"

; file name = "KUEHLDUESE_1.STL"

Using an NPP file

The NPP file "Kopf_A.NPP" file is loaded into the system variables of the NC for the 19th protection

area element. This contains the following three protection area elements "Box-1",

"Sphere-1" and "Cylinder-1".

Program code

Comment

$NP_NAME[18]

= "Head"

; 19th protection area element

$NP_NEXT[18]

= ""

$NP_NEXTP[18] = ""

$NP_TYPE[18]

= "FILE"

$NP_OFF[18,0] =

80.0

$NP_OFF[18,1] = 100.0

$NP_OFF[18,2] = -50.0

$NP_DIR[18,0] =

0.0

$NP_DIR[18,1] =

0.0

$NP_DIR[18,2] =

0.0

$NP_ANG[18]

=

0.0

$NP_COLOR[18]

= 0

; 1)

$NP_D_LEVEL[18] = 0

; 1)

$NP_USAGE[18]

= "A"

; 1)

$NP_FILENAME[18] = "Kopf_A.npp"

; 1) Active for all protection area elements loaded from file Kopf_A.NPP

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Program code

Comment

$NP_DIR[2,0]

=

1

$NP_DIR[2,1]

=

2

$NP_DIR[2,2]

=

3

$NP_ANG[2]

=

73

3.2.4.10

$NP_PARA

Function

Enter the dimensions of the protection area body according to the type of the protection area

element ($NP_TYPE (Page 46)) in the system variable.

Coordinate system

The local coordinate system in which the position of the protection area body is specified, is

defined by the system variables $NP_OFF (Page 57), $NP_DIR (Page 58), $NP_ANG

(Page 60).

Syntax

$NP_PARA[<n>,<i>] = <value>

Meaning

$NP_PARA:

Parameter values corresponding to the type of the protection area element

Data type:

REAL

Default value:

0.0

<n>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<i>:

Parameter index

Data type:

INT

Value range:

0, 1, 2

Parameter in-

Type of the protection area element

dex

BOX

SPHERE

CYLINDER

CONE

TORUS

0

Length in X

Radius

Height in Z

Height in Z

Radius 1 ¹⁾

1

Width in Y

---

Radius ¹⁾

Radius 1 ¹⁾

Radius 2

2

Height in Z

---

---

Radius 2 ^{1) 2)}

---

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<value>:

Parameter value

Data type:

REAL

Value range:

0.0 < x ≤ max. REAL value

1)

Radius in the X/Y plane

2)

Parameter value 0.0 is permissible.

---: Parameters that are not evaluated

Example

The 19th protection area element is a cube with the dimensions:

• Length: 50.0 in the X axis

• Width: 100.0 in the Y axis

• Height: 75.5 in the Z axis

Program code

Comment

; 19. protection area element

N100 $NP_TYPE[18] = "BOX"

; type = "BOX"

N120 $NP_PARA[18,0] = 50.0

; length in X

=

50.0

N130 $NP_PARA[18,1] = 100.0

; width in Y = 100.0

N140 $NP_PARA[18,2] = 75.5

; height in Z

=

75.5

3.2.4.11

$NP_OFF

Function

The offset vector by which the local coordinate system of the protection area element is moved

compared to the coordinate system of the previous protection area element should be entered

in the system variable.

Syntax

$NP_OFF[<n>,<i>] = <value>

Meaning

$NP_OFF:

Offset vector

Data type:

REAL

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

Default value:

(0.0, 0.0, 0.0)

<m>:

System variable or protection area element index

Data type:

INT

Value range:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

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<i>:

Coordinate index

Data type:

INT

Value range:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<value>:

Coordinate value

Data type:

REAL

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

Example

The local coordinate system of the 19th The local coordinate system of the protection area

element is moved by the following vector compared to the coordinate system of the previous

protection area element:

• X direction: 25.0

• Y direction: 50.0

• Z direction: 37.25

=

=

13B2))

<

˟

<

]

˞

[

;

\

;

X, Y, Z

Coordinate system of the previous protection area element

X', Y', Z'

Coordinate system of the current protection area element

Program code

Comment

; 19. protection area element, offset vector

N100 $NP_OFF[18,0] = 25.0

X = 25.0

N110 $NP_OFF[18,1] = 50.0

Y = 50.0

N120 $NP_OFF[18,2] = 37.25

Z = 37.25

3.2.4.12

$NP_DIR

Function

The direction vector through which the local coordinate system of the protection area element

is rotated compared to the coordinate system of the previous protection area element should be

entered in the system variable. The angle of rotation should be entered in $NP_ANG (Page 60).

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Boundary conditions

• The absolute value of the direction vector must be greater than: 1*10^-6

• A work offset parameterized in $NP_OFF (Page 57) is performed before the rotation.

Syntax

$NP_DIR[<n>,<i>] = <value>

Meaning

$NP_DIR:

Direction vector

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<i>:

Coordinate index

Data type:

INT

Range of values:

0 → X; 1 → Y: 2 → Z

<value>:

Coordinate value

Data type:

REAL

Range of values:

- max. REAL value ≤ x ≤ ± max. REAL value

Example

The local coordinate system of the 19th protection area element is rotated around the direction

vector compared to the coordinate system of the previous protection area element. The

direction vector is the unit vector (1; 0; 0), rotated through α=90° in the X/Y plane and β=10° in

the Y/Z plane, in relation to the world coordinate system. The following values result from this

for the individual components of the direction vector:

• X component = cos(α) * cos(β) = cos(90) * cos(10) = 0.0

• Y component = sin(α) * cos(β) = sin(90) * cos(10) ≈ 0.985

• Z component = sin(β) = sin(10) ≈ 0.174

=

13B',5

˟

<

]

˞

[

;

\

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Program code

Comment

; 19. protection area element, direction vector

N100 $NP_DIR[18.0] = COS(90) * COS(10)

; 0 = X component

N110 $NP_DIR[18.1] = SIN(90) * COS(10)

; 1 = Y component

N120 $NP_DIR[18.2] = SIN(10)

; 2 = Z component

3.2.4.13

$NP_ANG

Function

The angle through which the local coordinate system of the protection area element is rotated

around the direction vector ($NP_DIR (Page 58)) compared to the coordinate system of the

previous protection area element should be entered in the system variable.

Syntax

$NP_ANG[<n>] = <value>

Meaning

$NP_ANG:

Angle of rotation

Data type:

REAL

Range of values:

-360° < x ≤ 360°

Default value:

0.0

<n>:

System variable or protection area element index

Data type:

INT

Range of values:

0, 1, 2, ... ($MN_MM_MAXNUM_3D_PROT_AREA_ELEM - 1)

<value>:

Angle

Data type:

REAL

Example

The local coordinate system of the 19th protection area element is rotated by the angle

by δ=45.0° around the direction vector compared to the coordinate system of the previous

protection area element. The direction vector is the unit vector (1; 0; 0), rotated through α=90°

in the X/Y plane and β=10° in the Y/Z plane, in relation to the world coordinate system. The

following values result from this for the individual components of the direction vector:

• X component = cos(α) * cos(β) = cos(90) * cos(10) = 0.0

• Y component = sin(α) * cos(β) = sin(90) * cos(10) ≈ 0.985

• Z component = sin(β) = sin(10) ≈ 0.174

• Angle δ = 45.0°

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=

13B$1*

13B',5

R

=

<

˟

<

]

˞

[

;

;

\

Program code

Comment

; 19. Protection area element, direction vector and angle of rotation

N100 $NP_DIR[18.0] = COS(90)*COS(10)

; 0 = X component

N110 $NP_DIR[18.1] = SIN(90)*COS(10)

; 1 = Y component

N120 $NP_DIR[18.2] = SIN(10)

; 2 = Z component

N130 $NP_ANG[18] = 45.0

; Angle of rotation δ = 45°

3.2.5

System variables: Protection area elements for automatic tool protection

areas

The protection area element of an automatic tool protection area is defined using the

subsequent system variables. The control automatically generates the values of the system

variables from the geometric data of the associated tool, and these can only be read.

Name ¹⁾

Meaning

Analog to ²⁾

$NP_T_NAME[<n>]

Name of the protection area element

$NP_NAME

(Page 40)

$NP_T_TYPE[<n>]

Type of the protection area element

$NP_TYPE

(Page 46)

$NP_T_FILENAME[<n>]

File name of the STL file that contains the geometric

$NP_FILENAME

data of the protection area element

(Page 51)

(only relevant for $NP_T_TYPE == "FILE")

$NP_T_PARA[<n>,<i>]

Geometric parameters of the protection area body

$NP_PARA

(Page 56)

(only relevant for $NP_T_TYPE == "BOX" or "SPHERE"

or "CYLINDER")

$NP_T_OFF[<n>,<i>]

Offset vector of the protection area element local co-

$NP_OFF

ordinate system

(Page 57)

$NP_T_DIR[<n>,<i>]

Direction vector for the rotation of the protection

$NP_DIR (Page 58)

area element local coordinate system

$NP_T_ANG[<n>]

Angle for the rotation of the protection area element

$NP_ANG

local coordinate system

(Page 60)

1) n = 0, 1, ... ($MN_MM_MAXNUM_3D_T_PROT_ELEM - 1)

2) The system variables of the automatic tool protection areas correspond to those of the machine

protection areas.

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3.3 Data lists

3.3

Data lists

3.3.1

Machine data

3.3.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS

Maximum number of protection areas

MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM

Maximum number of protection area elements

MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM

Maximum number of tool protection area elements

MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN

Maximum number of NC/PLC interface signals for the

preactivation of protection areas

MD18895 $MN_MM_MAXNUM_3D_FACETS

Maximum number of triangles for protection areas

MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN

Maximum number of triangles for automatic tool pro-

tection areas

MD18899 $MN_PROT_AREA_TOOL_MASK

Creation mode for automatic tool protection areas

3.3.2

System variables

Identifier

Description

$NP_PROT_NAME

Name of the protection area

$NP_CHAIN_ELEM

Name of the kinematic element to which the protection area will be connected

$NP_PROT_TYPE

Type of the protection area

$NP_1ST_PROT

Name of the first protection area element of the protection area

$NP_PROT_COLOR

Transparency and color value of the protection area

$NP_PROT_D_LEVEL

Detail level for the protection area

$NP_BIT_NO

Bit number of the interface signal to activate/deactivate the protection area

$NP_INIT_STAT

Initialization status of the protection area

$NP_INDEX

Array for addressing the effective geometry data

$NP_NAME

Name of the protection area element

$NP_NEXT

Name of the following protection area element

$NP_NEXTP

Name of the branching protection area element

$NP_COLOR

Transparency and color value of the protection area element

$NP_D_LEVEL

Detail level for the protection area element

$NP_USAGE

Usage of the protection area element

$NP_TYPE

Type of the protection area element

$NP_FILENAME

Name of the STL file with the geometry data of the protection area element

body

$NP_PARA

Parameter values corresponding to the type of the protection area element

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63

Geometric machine modeling

3.3 Data lists

Identifier

Description

$NP_OFF

Offset vector

$NP_DIR

Direction vector

$NP_ANG

Angle of rotation

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Collision avoidance, internal

4.1 Function description

3. Description of the kinematic structure of the machine with kinematic elements.

Refer to Function Manual "Basic Functions", chapter "Kinematic chain".

4. Writing of the protection areas and protection area elements as enveloping geometry of the

machine parts, tools and workpieces to be protected. Assignment of the protection area to

elements of the kinematic chain.

See chapter "Geometric machine modeling (Page 17)".

5. Definition of collision pairs, i.e. of two protection areas that are to be monitored for collision.

See chapter "$NP_COLL_PAIR (Page 80)".

6. Triggering a recalculation of the kinematic and geometric model.

See chapter "Request recalculation of the machine model of the collision avoidance (PROTA)

(Page 86)".

7. Activation of the protection areas to be monitored.

See chapter "Setting the protection zone status (PROTS) (Page 87)".

8. Optional: Use of the extended functions and system variables

Limits of the collision avoidance

The function cannot guarantee complete protection against a collision when traversing machine

parts, tools of workpieces. On the one hand, the collision protection can only be as good as the

parameterized kinematic and geometric model or the machine and the protection areas. On the

other hand, bodies that have not been modeled cannot be monitored at all. For this reason, it

remains the responsibility of the machine operator to ensure that a traversing motion is

executed collision-free even when the collision protection is activated.

States of protection areas

Whether a protection area is taken into account for collisions depends on the state of the

protection area:

State

Meaning

Active

The protection area is taken into account for collisions.

Inactive

The protection area is not taken into account for collisions.

Preactivated

The protection area is taken into account for collisions. A collision alarm is only issued

when it has also been activated by a protection area-specific NC/PLC interface signal.

State after control ramp-up

After the control has powered up, all protection areas are in the state corresponding to their

respective setting in $NP_INIT_STAT. See chapter "$NP_INIT_STAT (Page 36)".

State change

The state of a protection areas can be changed by:

• The PROTS() (Page 87) procedure

• Change of the initialization state to $NP_INIT_STAT followed by recalculation of the machine

model through the PROTA() (Page 86) procedure.

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4.1 Function description

Requirements

The following requirements must be satisfied so that the protection areas of a collision pair can

be monitored:

• Axes or spindles: referenced/synchronized

The position measurement system for the axes or spindles which move a protection area

must be referenced or synchronized. If this has not been done the corresponding protection

area is in an "inactive" state.

• External motion

With traversing motions that are not performed by the NC, e.g. PLC axis or manually moved

axis, the current axis position must be known in the NC.

4.1.3

Reaction of the control to a risk of collision

The collision avoidance takes the following parameterizable limit values into account for the

collision detection:

• Collision tolerance

• Safety clearance

<

;

① Protection area 1 (static)

② Protection area 2 (can be moved in X and Y direction)

③ Current clearance

④ Safety clearance

⑤ Collision tolerance / 2

⑥ Collision clearance = safety clearance + collision tolerance

Figure 4-1

Current clearance, collision tolerance and safety clearance

Collision tolerance and safety clearance

Safety clearance

The safety clearance defines a clearance up to which two active protection areas, monitored for

collision, can approach one another. The collision avoidance ensures that this clearance is not

violated and that the collision is displayed.

The safety clearance can be set specifically for each collision pair via a system variable

(Page 81).

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67

Collision avoidance, internal

4.1 Function description

4.1.4

State diagram: Protection area

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SB

Protection area

BA

Operating mode

①

UpdateAllCaSysVar(SB) function

All system variables of the collision avoidance are read into NC-internal variables:

int... = $N...

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Collision avoidance, internal

4.1 Function description

Allowance for the following error

The collision avoidance uses the position setpoints of the relevant machine axes for the

clearance calculation of the protection areas. However, the actual positions of the machine axes

differ from the position setpoint by the following error. For this reason, there is also a difference

between the position setpoint and the actual position for the protection areas. This difference

must be taken into account by the user through configuration of a suitably large safety clearance

or enlargement of the protection area.

Compensations

The various compensation functions of the NC - for instance, temperature, spindle and pitch

error and sag compensation - ensure that positions programmed in the workpiece coordinate

system are actually assumed in the machine coordinate system. The collision avoidance takes

into account the position corrections made by the compensation functions.

WARNING

Risk of collision

If compensations are used for other purposes, e.g. in order to implement axis couplings in the

machine coordinate system, the collision avoidance working with position setpoints can no

longer be performed reliably. There is a risk of collision.

Actual value offset in the machine coordinate system with PRESETON

With active collision avoidance and use of an actual value offset in the machine coordinate

system with PRESETON, it is the sole responsibility of the user to ensure that the geometric

model of the collision avoidance remains consistent.

WARNING

Risk of collision

If an actual value offset is made in the machine coordinate system with PRESETON and the

geometric model of the collision avoidance not adapted accordingly, the collision avoidance

working with position setpoints can no longer be performed reliably. There is a risk of collision.

Block search

For the following types of block search there are no collision calculations carried out:

• Type 1: Block search without calculation

• Type 2: Block search with calculation at contour

• Type 4: Block search with calculation at block end point

With the following type of block search collision calculations are carried out (in the

preprocessing) for:

• Type 5: Block search with calculation in "Program test" (SERUPRO) mode

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Collision avoidance, internal

4.2 Commissioning

4.2.2.3

Maximum memory space

The maximum value of the memory space in KB that can be allocated to the collision avoidance

is set with the machine data.

MD18896 $MN_MM_MAXNUM_3D_COLLISION = <value>

Value

Meaning

0

The maximum value of the memory space is determined automatically by the control using the

following machine data:

• MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS

• MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM

• MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN

• MD18895 $MN_MM_MAXNUM_3D_FACETS

> 0

Maximum value = parameterized value [KB]

Note

Only one > 0 value must be entered in the machine data when one of the following alarms is

displayed:

• Alarm 26262 "Insufficient memory space for the collision check of two protection areas"

• Alarm 26263 "Insufficient memory space for determining the clearance of two protection

areas"

Used memory space

Various system variables are available to determine the memory space used by the collision

avoidance. See section "Memory requirement (Page 83)".

4.2.2.4

Maximum number of collision pairs

The maximum number of possible collision pairs has an impact on:

• Length m of the system variable fields (e.g. $NP_COLL_PAIR[ m, ... ] )

• The user memory required for collision avoidance

• The size of the commissioning archive

The maximum number of collision pairs can be restricted with machine data:

MD18898 $MN_MM_MAXNUM_3D_COLL_PAIRS = <value>

<Val-

Meaning

ue>

0

The following applies to the maximum number of possible collision pairs MCP:

MCP = maximum value of the machine data

x > 0

The following applies to the maximum number of possible collision pairs MCP:

MCP = x, with 0 < x ≤ maximum value of the machine data

A value greater than the maximum permissible value of the machine data is limited internally to the

maximum value. No feedback regarding this is sent to the user.

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4.2 Commissioning

4.2.2.5

Protection levels for collision avoidance On/Off

The protection level for switching the collision avoidance On/Off is set with the machine data via

the user interface. The protection level can be specified according to operating mode and

protection area type.

Machine data = <protection level>

Number

Identifier: $MN_

Meaning: Protection level for switching the col-

lision avoidance On/Off

MD51160

ACCESS_WRITE_CA_MACH_JOG

Machine protection areas, JOG/MDI operating

mode

MD51161

ACCESS_WRITE_CA_MACH_AUTO

Machine protection areas, AUTOMATIC mode,

MD51162

ACCESS_WRITE_CA_TOOL

Tool protection areas

Further information

A detailed description of protection levels can be found in:

Function Manual Basic Functions; Various NC/PLC interface signals and functions > Functions >

Access protection via password and keyswitch

4.2.3

System variables

4.2.3.1

Overview

A collision pair is parameterized with the following system variables:

Name

Meaning

$NP_COLL_PAIR

Name of a collision pair protection area

$NP_SAFETY_DIST

Safety clearance of the protection area pair

The system variables are described in detail in the following sections.

Note

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the collision

avoidance. To do this, set the system variables of the collision avoidance to their default values

with the DELOBJ() function.

Change system variable values

If the value of one of the system variables listed above is changed, the change becomes

immediately visible at the user interface, e.g. SINUMERIK Operate. The machine model of the NC

is only updated after explicitly requesting that the machine model is recalculated by calling

the PROTA() (Page 86) or PROTS() (Page 87) function.

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Collision avoidance, internal

4.2 Commissioning

4.2.3.2

$NP_COLL_PAIR

Function

The names of the two protection areas, which form a collision pair, is entered in a system

variable. The two protection areas can be in any sequence.

Collision pairs

As the collision check requires a lot of computation time, it does not make sense to monitor all

parameterized protection areas for collision with one another through the collision avoidance.

Examples in which a collision check does not make sense:

• Protection areas that cannot collide because of the construction

• Protection areas that have been defined without anchoring to the kinematic chain

The user must define which parameterized protection areas can actually collide on the machine

and define them as collision pairs. Only these protection areas are monitored by the collision

avoidance.

To define a collision pair, the names of the two protection areas must be entered in two system

variables with the same collision pair index. One protection area under the protection area index

0, the other under the protection area index 1.

Part of a collision pair

Using the COLLPAIR() (Page 85) function, a check can be made as to whether two protection

areas are parameterized as collision pair.

Syntax

$NP_COLL_PAIR[<m>,<i>] = "<name>"

Meaning

$NP_COLL_PAIR:

Name of the first or second protection area of a collision pair

Data type:

STRING

Default value:

"" (empty string)

<m>:

System variable or collision pair index

Data type:

INT

Range of values:

0, 1, 2, ... (M -1) ¹⁾

<i>:

Protection area index

Data type:

INT

Range of values:

0 (first protection area), 1 (second protection area)

<name>:

Protection area name

Data type:

STRING

1)

M = n * (n - 1) / 2

where n = $MN_MM_MAXNUM_3D_PROT_AREAS

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4.2 Commissioning

Example

Two protection areas defined with the names "Rotary table" and "Tool in spindle" are to be

checked for collision. The two protection areas are to be mutually monitored for collision. The

definition for this is in the seventh collision pair:

Program code

Comment

N100 $NP_COLL_PAIR[6,0] = "Rotary ta-

; 7th collision pair,

ble"

; 1st Protection area

N110 $NP_COLL_PAIR[6,1] = "Tool in spin-

; 7th collision pair,

dle"

; 2nd Protection area

Supplementary conditions

• When forming a collision pair, it should be observed that every protection area of this pair has

at least one protection area element that is marked with $NP_USAGE (Page 45) = "C" or "A".

Otherwise, with the protection area, it is not permissible to perform a collision or clearance

calculation (Page 88).

• The protection areas of a collision pair are only checked for collision when both protection

areas are in the "Protection area monitored" state. See Chapter "State diagram: Protection

area (Page 70)".

4.2.3.3

$NP_SAFETY_DIST

Function

The collision pair-specific safety clearance is entered in the system variable. The collision

avoidance ensures that this safety clearance is not violated.

If a value not equal to 0.0 is entered in the system variable, the general safety clearance from

MD10622 $MN_COLLISION_SAFETY_DIST (Page 77) is not taken into account for this collision

pair.

If the value 0.0 is entered in the system variable, the safety clearance set in the machine data

applies.

Syntax

$NP_SAFETY_DIST[<m>] = <value>

Meaning

$NP_SAFETY_DIST:

Safety clearance of the collision pair

Data type:

REAL

Default value:

0.0

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Collision avoidance, internal

4.2 Commissioning

<m>:

System variable or protection area index

Data type:

INT

Range of values:

0, 1, 2, ... (M -1) ¹⁾

<value>:

Safety clearance

Data type:

REAL

Range of values:

0.0 ≤ x ≤ +max. REAL value

Unit:

mm or inch depending on the current dimensions set-

ting

1)

M = n * (n - 1) / 2

where n = $MN_MM_MAXNUM_3D_PROT_AREAS

Example

The safety clearance for the protection areas of the seventh collision pair should be 1.0 mm

(input system: metric).

Program code

Comment

N100 $NP_SAFETY_DIST[6] = 1.0

; 7. collision pair,

; safety clearance = 1.0

See also

Reaction of the control to a risk of collision (Page 67)

4.2.4

Extend system variables

4.2.4.1

Overview

Further information on the internal states and values of the collision avoidance can be read via

the following system variables:

• State data (Page 83)

• Memory requirement (Page 83)

• Braking distance estimations (Page 84)

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4.2 Commissioning

4.2.4.2

State data

The state data of the collision avoidance can be read via the following system variables (OPI

variables)

System variable

OPI variable

Meaning

$AN_COLL_STATE[<m>]

anCollState[<m>]

Current state of a protection area (active/inactive) with

regard to the collision avoidance

$AN_COLL_STATE_COND[<m>]

anCollStateCond[<m>]

Monitoring state (bit-coded) of a protection area

$AN_COLL_IPO_ACTIVE

anCollIpoActive

Activation state of the collision avoidance in the main

run (active/inactive)

$AN_COLL_IPO_LIMIT

anCollIpoLimit

Velocity reduction through collision avoidance in the

main run (active/inactive)

$AN_COLL_LOAD[<i>] ¹⁾

anCollLoad[<i>] ¹⁾

Computation time requirement for the collision avoid-

ance function <i>

$AN_ACTIVATE_COLL_CHECK[<j>]

anActivateColl-

Current state of the NC/PLC interface with index <j> for

Check[<j>]

each 8 bytes:

DB10, DBX234.0 - DBX.241.7 (activate protection areas)

$AN_COLL_CHECK_OFF

anCollCheckOff

Current state of the NC/PLC interface:

DB10 DBX58.0 - 7 (disable protection area group)

$AA_COLLPOS[<a>]

aaCollPos

Position of axis <a> in the machine coordinate system

(MCS) when the last collision alarm occurred

$AC_COLLPOS[<k>]

acCollPos

Vector <k> for the collision position in the world coor-

dinate system when the last collision alarm occurred

a: Axis name

i: 0 = function 1, 1 = function 2, 2 = function 3, ...

j: Index 0, 1, 2, ... for one bit field each of 8 bytes.

k: Coordinate index k = 1, 2, 3 for X, Y, Z coordinates

m: System variable or protection area index 0, 1, 2, ... (MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS - 1)

1) The system variable can be reset by writing the value 0. Every other value is rejected with an error message.

Further information

• For a detailed description of the system variables, refer to:

List Manual, System Variables

• A detailed description of the interface signals can be found in:

Function Manual PLC

4.2.4.3

Memory requirement

The data for the memory requirement of the collision avoidance can be read via the following

system variables (OPI variables):

System variable

OPI variable

Meaning

$AN_COLL_MEM_AVAILABLE

anCollMemAvailable

Size of the memory space in KB reserved for the collision avoid-

ance.

$AN_COLL_MEM_USE_MIN ¹⁾

anCollMemUseMin ¹⁾

Minimum value of the memory space used for the collision

avoidance as a percentage of the reserved memory.

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Collision avoidance, internal

4.2 Commissioning

System variable

OPI variable

Meaning

$AN_COLL_MEM_USE_MAX ¹⁾

anCollMemUseMax ¹⁾

Maximum value of the memory space used for the collision

avoidance as a percentage of the reserved memory

$AN_COLL_MEM_USE_ACT ¹⁾

anCollMemUseAct ¹⁾

Actual value of the memory space used for the collision avoid-

ance as a percentage of the reserved memory.

1) The system variable can be reset by writing the value 0. Every other value is rejected with an error message.

Further information

For a detailed description of the system variables, refer to:

List Manual, System Variables

4.2.4.4

Braking distance estimations

The estimated total braking distance (linear approximation) and the proportional braking

distances of superimposed motions for an axis can be read via the following system variables

(OPI variables). The estimation only takes the current state of the axis into account. It returns,

e.g. the braking distance 0.0 for an axis that is just at the reversal point as part of a circular path.

Note

The system variables are used for support in the development of user-specific functions as part

of the collision avoidance, and similar functions.

Table 4-1

Basic coordinate system (BCS)

System variable

OPI variable

Meaning

Total braking distance

$AA_DTBREB[<a>]

aaDtbreb

Estimated, linearly approximated total braking dis-

tance

Proportional braking distances for superimposed motions

$AA_DTBREB_CMD[<a>]

aaDtbrebCmd

Command component

$AA_DTBREB_CORR[<a>]

aaDtbrebCorr

Correction component

$AA_DTBREB_DEP[<a>]

aaDtbrebDep

Coupling component

<a>: Axis name

Table 4-2

Machine coordinate system (MCS)

System variable

OPI variable

Meaning

Total braking distance

$AA_DTBREM[<a>]

aaDtbrem

Estimated, linearly approximated total braking dis-

tance

Proportional braking distances for superimposed motions

$AA_DTBREM_CMD[<a>]

aaDtbremCmd

Command component

$AA_DTBREM_CORR[<a>]

aaDtbremCorr

Correction component

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Collision avoidance, internal

4.3 Programming

System variable

OPI variable

Meaning

$AA_DTBREM_DEP[<a>]

aaDtbremDep

Coupling component

<a>: Axis name

Further information

For a detailed description of the system variables, refer to:

List Manual, System Variables

4.3

Programming

4.3.1

Check for collision pair (COLLPAIR)

The COLLPAIR() function determines whether two protection areas form a collision pair.

Syntax

[<RetVal> =] COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])

Meaning

COLLPAIR:

Check whether part of a collision pair

<RetVal>:

Function return value

Data type:

INT

Value:

≥ 0

The two protection zones form a collision pair.

Return value == collision pair index m

(see $NP_COLL_PAIR (Page 80))

-1

Either two strings have not been specified or at least one

of the two is the zero string.

-2

The protection zone specified in the first parameter has

not been found.

-3

The protection zone specified in the second parameter

has not been found.

-4

Neither of the two specified protection zones has been

found.

-5

Both specified protection zones have been found, but

not together in a collision pair.

<Name_1>:

Name of the first protection zone

Data type:

STRING

Range of val-

Parameterized protection zone names

ues:

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Collision avoidance, internal

4.3 Programming

<Name_2>:

Name of the second protection area

Data type:

STRING

Range of val-

Parameterized protection zone names

ues:

<NoAlarm>:

Alarm suppression (optional)

Data type:

BOOL

Value:

FALSE (Default)

In the event of an error (<RetVal> < 0), the

program processing is stopped and an alarm

displayed.

TRUE

In the event of an error, the program process-

ing is not stopped and no alarm displayed.

Application: User-specific reaction correspond-

ing to the return value

See also

State diagram: Protection area (Page 70)

4.3.2

Request recalculation of the machine model of the collision avoidance

(PROTA)

If system variables of the kinematic chain $NK_..., the geometric machine modeling or the

collision avoidance $NP_... are written in the part program, the PROTA procedure must

subsequently be called so that the change becomes effective in the NC-internal machine model

of the collision avoidance.

Syntax

PROTA[(<Par>)]

Meaning

PROTA:

Request recalculation of the machine model of the collision avoidance

• Triggers a preprocessing stop.

• Must be alone in the block.

<Par>:

Parameter (optional)

Data type:

STRING

Value:

---

No parameters.

The machine model is recalculated. The states of the pro-

tection areas are retained.

"R"

The machine model is recalculated. The protection areas are

set to their initialization status corresponding to $NP_IN-

IT_STAT (Page 36).

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4.3 Programming

Supplementary conditions

Simulation

The PROTA procedure must not be used in part programs in conjunction with the simulation

(simNC).

Example: Avoiding the PROTA call while the simulation is active.

Program code

Comment

IF $P_SIM == FALSE

; IF simulation not active

PROTA

THEN recalculate collision model

ENDIF

; ENDIF

See also

Setting the protection zone status (PROTS) (Page 87)

4.3.3

Setting the protection zone status (PROTS)

The PROTS() procedure sets the state of protection areas to the specified value.

Syntax

PROTS(<State>[,<Name_1>,...,<Name_n>])

Meaning

PROTS:

Sets the state of protection areas

• Must be alone in the block.

<State>:

Status to which the specified protection zones are to be set

Data type:

CHAR

Value:

"A"or "a"

Status: Active

"I"or "i"

Status: Inactive

"P"or "p"

Status: Preactivated or PLC-controlled ¹⁾

"R"or "r"

Status: NC-internal value of the initialization

status ²⁾

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Collision avoidance, internal

4.3 Programming

<Name_1> ...

Name of one or more protection areas that are to be set to the specified status

<Name_n>:

(optional)

If no name is specified, the specified status is set for all defined protection zones.

Data type:

STRING

Range of values:

Parameterized protection zone names

Note

The maximum number of protection areas that can be specified as parameters de-

pends only on the maximum possible number of characters per program line.

¹⁾ The activation/deactivation is performed via: DB10.DBX234.0 - DBX241.7

²⁾ The status is set to the NC-internal value of the initialization status, i.e. to the value that the system

variable $NP_INIT_STAT (Page 36) had at the time of the last PROTA( ) (Page 86) call.

4.3.4

Determining the clearance of two protection zones (PROTD)

The PROTD() function calculates the clearance of two protection areas.

Function properties:

• The clearance calculation is performed independent of the protection area status (activated,

deactivated, preactivated).

• To calculate the clearance of two protection areas, only protection area elements are used,

which are marked with $NP_USAGE (Page 45) = "C" or "A". Protection area elements of the

protection area, which are marked with $NP_USAGE = "V", are not taken into consideration.

• Protection areas, where all protection area elements of the protection area are marked with

$NP_USAGE = "V", cannot be used for the clearance calculation.

• The clearance calculation is performed with the positions valid at the end of the previous

block.

• Overlays that are included in the main run calculation (e.g. DRF offset or external zero offset)

are included in the clearance calculation with the values valid at the function interpretation

time.

Note

Synchronization

When using the PROTD() function, it is the sole responsibility of the user to synchronize the

main run and preprocessing, if required, with the STOPRE preprocessing stop.

Collision

If there is a collision between the specified protection areas, the function returns a clearance of

0.0. There is a collision if both the protection areas touch or intersect each other.

The safety clearance for the collision check (MD10622 $MN_COLLISION_SAFETY_DIST) is not

taken into account in the clearance calculation.

Syntax

[<RetVal> =] PROTD([<Name_1>],[<Name_2>],VAR <Vector>[,<System>])

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Collision avoidance, internal

4.3 Programming

Meaning

PROTD:

Calculates the clearance of the two specified protection areas.

• Must be alone in the block.

<RetVal>:

Function return value: Absolute clearance value of the two protection areas or 0.0 with

collision (see above: Collision paragraph)

Data type:

REAL

Range of values:

0.0 ≤ x ≤ +max. REAL value

<Name_1>,

Names of the two protection areas whose clearance is to be calculated (optional)

<Name_2>:

Data type:

STRING

Range of values:

Parameterized protection area names

Default value:

"" (empty string)

If no protection areas have been specified, the function calcu-

lates the current smallest clearance from all the activated and

preactivated protection areas in the collision model.

<Vector>:

Return value: 3-dimensional clearance vector from protection area <Name_2> to pro-

tection area <Name_1> with:

• <Vector>[0]: X coordinate in the world coordinate system

• <Vector>[1]: Y coordinate in the world coordinate system

• <Vector>[2]: Z coordinate in the world coordinate system

For collision: <Vector> == zero vector

Data type:

VAR REAL [3]

Range of values:

<Vector> [n]: 0.0 ≤ x ≤ ±max. REAL value

<System>:

Measuring system (inch/metric) for clearance and clearance vector (optional)

Data type:

BOOL

Value:

FALSE (Default)

Measuring system corresponding to the cur-

rently active G command from G group 13

(G70, G71, G700, G710).

TRUE

Measuring system corresponding to the set

basic system:

MD52806 $MN_ISO_SCALING_SYSTEM

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Collision avoidance, internal

4.4 Example

4.4

Example

4.4.1

Specifications

General Information

The basic procedure when parameterizing collision avoidance using a part program is shown

using a simplified 3-axis milling machine as example. All of the system variables relevant for

collision avoidance are written to the part program:

• Kinematic chain $NK_...

• Geometric machine modeling $NP_...

• Collision avoidance $NP_...

The machine model is subsequently activated in the part program, so that after executing the

part program, the collision avoidance has been completely parameterized in the 3-axis milling

machine and is active.

Option and machine data

The following option and machine data must be set for the example:

No.

Option data: $ON_

Value

MD19830

COLLISION_MASK

1

No.

Machine data: $MN_

Value

MD10619

COLLISION_TOLERANCE

1

MD18880

MM_MAXNUM_KIN_CHAIN_ELEM

10

MD18890

MM_MAXNUM_3D_PROT_AREAS

10

MD18892

MM_MAXNUM_3D_PROT_AREA_ELEM

10

MD18893

MM_MAXNUM_3D_T_PROT_ELEM

1

MD18894

MM_MAXNUM_3D_FACETS_INTERN

1000

MD18895

MM_MAXNUM_3D_FACETS

3000

MD18896

MM_MAXNUM_3D_COLLISION

0

MD18897

MM_MAXNUM_3D_INTERFACE_IN

16

MD18899

PROT_AREA_TOOL_MASK

1

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Collision avoidance, internal

4.4 Example

Principle design of the 3-axis milling machine

The principle machine design is shown in the following diagram.

=

=

;

<

;

<

① Z axis

② Stand

③ Table

④ Machine zero = reference point

⑤ Tool

⑥ Tool holder

The machine parts and/or protection areas are assigned to the following machine axes.

Machine parts and/or protection areas

Machine axis

Table

X1, Y1

Z axis

Z1

Column

---

Tool holder

Z1

Tool

Z1

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Collision avoidance, internal

4.4 Example

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Collision avoidance, internal

4.4 Example

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Collision pairs

For the example, it is assumed that only the following collision pairs are to be taken into account:

• Tool adapter - table

• Tool - table

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Collision avoidance, internal

4.5 Data lists

Program code

;===========================================================

; collision pairs

;===========================================================

$NP_COLL_PAIR[C_NPP, 0] = "Tool adapter"

$NP_COLL_PAIR[C_NPP, 1] = "Table"

;

C_NPP = C_NPP + 1

; next collision pair

;

$NP_COLL_PAIR[C_NPP, 0] = "Tool"

$NP_COLL_PAIR[C_NPP, 1] = "Table"

;

C_NPP = C_NPP + 1

; next collision pair

;

;

;===========================================================

; activating the machine model

;===========================================================

PROTA

PROTS("A")

;

M2

;========================= ENDE ===========================

4.5

Data lists

4.5.1

Machine data

4.5.1.1

NC-specific machine data

Number

Identifier: $MN_

Description

MD10619

COLLISION_TOLERANCE

Collision tolerance

MD10622

COLLISION_SAFETY_DIST

Safety clearance

MD18896

MM_MAXNUM_3D_COLLISION

Memory location for the collision avoidance

4.5.2

System variables

Identifier

Description

$NP_COLL_PAIR

Name of the first or second protection area of a collision pair

$NP_SAFETY_DIST

Safety clearance of the collision pair

$AN_COLL_STATE

Current state of a protection area with regard to the collision avoidance

$AN_COLL_STATE_COND

Monitoring state (bit-coded) of a protection area

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4.5 Data lists

Identifier

Description

$AN_COLL_IPO_ACTIVE

Activation state of the collision avoidance in the main run

$AN_COLL_IPO_LIMIT

Velocity reduction through collision avoidance in the main run

$AN_COLL_LOAD

Computation time requirement for the collision avoidance function

$AN_ACTIVATE_COLL_CHECK

Current state of the NC/PLC interface DB10, DBX234.0 - DBX.241.7 (activate

protection areas)

$AN_COLL_CHECK_OFF

Current state of the NC/PLC interface DB10, DBB58 (switch off protection area

groups depending on the operating mode)

$AA_COLLPOS

Position of an axis in the MCS when the last collision alarm occurred

$AC_COLLPOS

Vector for the collision position in the world coordinate system when the last

collision alarm occurred

$AN_COLL_MEM_AVAILABLE

Size of the memory space in KB reserved for the collision avoidance.

$AN_COLL_MEM_USE_MIN

Minimum value of the memory space used for the collision avoidance as a

percentage of the reserved memory.

$AN_COLL_MEM_USE_MAX

Maximum value of the memory space used for the collision avoidance as a

percentage of the reserved memory.

$AN_COLL_MEM_USE_ACT

Actual value of the memory space used for the collision avoidance as a per-

centage of the reserved memory.

$AA_DTBREB

Estimated, linearly approximated total braking distance (BCS)

$AA_DTBREB_CMD

Command component (BCS)

$AA_DTBREB_CORR

Correction component (BCS)

$AA_DTBREB_DEP

Coupling component (BCS)

$AA_DTBREM

Estimated, linearly approximated total braking distance (MCS)

$AA_DTBREM_CMD

Command component (MCS)

$AA_DTBREM_CORR

Correction component (MCS)

$AA_DTBREM_DEP

Coupling component (MCS)

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Protection areas

6.1 Function

① Tool-related protection zone

② Workpiece-related protection zone

Figure 6-1

Example of protection zones on a milling machine

Defining protection zones

A protection zone can be 2 or 3 dimensional, and defined using polylines with a maximum of 10

corner points and arcs as contour elements. The definition can be made using commands in the

part program (see "Defining protection zones (CPROTDEF, NPROTDEF) (Page 117)") or using

system variables. All of the contour elements lie in the plane that can be selected with G17, G18

or G19.

3rd dimension

Extending the protection zone in the 3rd dimension can be limited between - ∞ and + ∞:

•

-∞ to +∞

•

-∞ up to the upper limit

• Lower limit to +∞

• Lower limit to upper limit

Coordinate system

The definition of a protection zone takes place with reference to the geometry axis of a channel

and therefore in the basic coordinate system (BCS).

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Protection areas

6.1 Function

Reference

• Tool-related protection zones

Coordinates for tool-related protection zones must be specified as absolute values referred

to the tool holder reference point F.

• Workpiece-related protection zones

Coordinates for workpiece-related protection zones must be specified as absolute values

referred to the zero point of the basic coordinate system (BCS).

Note

If no tool-related protection zone is active, the tool path is checked against the workpiece-related

protection zones.

If no workpiece-oriented protection area is active, then there is no protection zone monitoring.

Orientation

The orientation of the protection zones is determined by the plane definition (abscissa/

ordinate), in which the contour is described, and the axis perpendicular to the contour (vertical

axis).

The orientation of the protection zones must be the same for the tool- and workpiece-related

protection zones.

Machine/channel-specific protection zones

• Machine-specific protection zones

Data for machine specific protection zones are defined once in the control. These protection

zones can be activated by all channels.

• Channel-specific protection zones

Data for channel-specific protection zones are defined in a channel. These protection zones

can be activated only by this channel.

System variable

When the protection zones are defined using commands in the part program, the protection

zone data is stored in system variables. The system variables can also be written directly so that

the definition of protection areas can also be performed directly in the system variables. The

same supplementary conditions apply for the definition of the contour of a protection zone as

for a protection zone definition using commands in the part program (see "Defining protection

zones (CPROTDEF, NPROTDEF) (Page 117)").

The protection zone definitions cover following system variables:

System variable

Type

Meaning

$SN_PA_ACTIV_IMMED[<n>]

BOOL

Activation type

$SC_PA_ACTIV_IMMED[<n>]

The protection zone is active / not active immediately af-

ter the control system has been powered up and the axes

referenced.

FALSE

Not immediately active

TRUE

Immediately active

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Protection areas

6.1 Function

System variable

Type

Meaning

$SN_PA_T_W[<n>]

INT

Protection zone type

$SC_PA_T_W[<n>]

0

Workpiece-related protection zone

1

Reserved

2

Reserved

3

Tool-related protection zone

$SN_PA_ORI[<n>]

INT

Orientation of the protection zone, i.e. polygon definition

$SC_PA_ORI[<n>]

in the plane of:

0

1st and 2nd geometry axis

1

3rd and 1st geometry axis

2

2nd and 3rd geometry axis

$SN_PA_LIM_3DIM[<n>]

INT

Type of limitation in the 3rd dimension

$SC_PA_LIM_3DIM[<n>]

0

No limitation

1

Limitation in plus direction

2

Limitation in minus direction

3

Limitation in positive and negative directions

$SN_PA_PLUS_LIM[<n>]

REAL

Value of the limit in the positive direction in the 3rd di-

$SC_PA_PLUS_LIM[<n>]

mension

$SN_PA_MINUS_LIM[<n>]

REAL

Value of the limit in the minus direction in the 3rd dimen-

$SC_PA_MINUS_LIM[<n>]

sion

$SN_PA_CONT_NUM[<n>]

INT

Number of valid contour elements

$SC_PA_CONT_NUM[<n>]

$SN_PA_CONT_TYP[<n>, <i>]

INT

Contour type[<i>], contour type (G1, G2, G3) of the <i>th

$SC_PA_CONT_TYP[<n>, <i>]

contour element

$SN_PA_CONT_ABS[<n>, <i>]

REAL

End point of the contour[<i>], abscissa value

$SC_PA_CONT_ABS[<n>, <i>]

$SN_PA_CONT_ORD[<n>, <i>]

REAL

End point of the contour[<i>], ordinate value

$SC_PA_CONT_ORD[<n>, <i>]

$SN_PA_CENT_ABS[<n>, <i>]

REAL

Center point of the circular contour[<i>], absolute abscis-

$SC_PA_CENT_ABS[<n>, <i>]

sa value

$SN_PA_CENT_ORD[<n>, <i>]

REAL

Center point of the circular contour[i], absolute ordinate

$SC_PA_CENT_ORD[<n>, <i>]

value

$SN_... are system variables for NC and machine-specific protection zones.

$SC_... are system variables for channel-specific protection zones.

The index "<n>" corresponds to the number of the protection zone: 0 = 1st protection zone

The index "<i>" corresponds to the number of the contour element: 0 = 1st contour element

The contour elements must be defined in ascending order.

Note

The system variables of the protection zone definitions are not restored with REORG!

Data of the protection zone definitions

Data storage

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