Dynamic collision monitoring (#COLL MON ON)
Function available as of V3.1.3122.0.
This NC command dynamically programs an axis-specific collision monitoring function.
Configured axis collision monitoring cannot be influenced by the NC commands described here.
Syntax of collision monitoring |
#COLL MON ON [ AXNR1=.. | AX1=<axis_name> AXNR2=.. | AX2=<axis_name> |
AXNR1=.. | Axis number of collision axis (P-AXIS-00016) |
AX1=<axis_name> | Axis name of collision axis |
AXNR2=.. | Axis number of collision partner; the collision partner must be present in the channel. |
AX2=<axis_name> | Axis name of collision partner in the channel. |
DIST | Minimum permissible position distance between collision axes in mm, analogous to P-AXIS-00045. |
ZERO_OFFSET | Offset between zero positions of collision axes in mm, analogous to P-AXIS-00263. |
MOVE_INVERTED | Collision axes have different mechanical motion directions, analogous to P-AXIS-00262. |
USE_A_EMERGENCY | Execute collision monitoring with P-AXIS-00003 (a_emergency), analogous to P-AXIS-00267. |
\ | Separator ("backslash") for clear programming of the command over multiple lines. |
Axis collision monitoring can only be enabled with #COLL MON ON if no programmed collision monitoring is active for the collision axis.
If a new #COLL MON ON command is programmed for this axis while collision monitoring is active, error message ID 70682 is output.
 | When the NC command is used with axis names, both axes must be in the channel; when axis numbers are used, the axis of the collision partner need not necessarily be in the channel. |
Switching off collision monitoring
The following distinctions are possible:
- Switch off a specific axis collision monitor in the channel
- Switch off all axis collision monitors in a channel
- Switch off all axis collision monitors in the system
Syntax for Switch off a specific axis collision monitor |
#COLL MON OFF [ AXNR1=.. | AX1=<axis:name> ] |
AXNR1=.. | Axis number of collision axis (P-AXIS-00016) |
AX1=<axis_name> | Axis name of collision axis |
Syntax for Switch off all axis collision monitors in the channel |
#COLL MON OFF ALL |
Syntax for Switch off all axis collision monitors in the system |
#COLL MON OFF ALL MCH |
| Programmed axis collision monitors are retained after reset and program end. |
| One collision pair can be programmed per axis. |
| The collision axis must be in the channel in order to program an axis collision monitor. |
Programming Example
Switch on/off collision monitoring
( axis 3, and using a_emergency)