Static collision monitoring

The static collision monitoring of two axes is configured using the parameters in the corresponding axis parameters lists for the axes.

In the parameter P-AXIS-00015 (achs_mode) the 0x8000 bit is set for the two axes in a collision pair.

Additional data must be set for collision monitoring in one of the two axes of a collision pair. Normally the following inputs are set in the second axis of a collision pair, referred to as the master axis:

• In P-AXIS-00043 (coll_check_ax_nr) the logical axis number of the collision partner.
• In P-AXIS-00045 (coll_offset) the minimum permitted distance between slide reference points.

First, the corresponding axes must first be homed and configured in one of the collision axes P-AXIS-00043. Only then is the collision monitor active.

Configuration type no longer recommended: Due to downwards compatibility, two axes can be configured as collision partners. In this case the two collision distances P-AXIS-00045 (coll_offset) have the same value.