Examples

Minimum permitted distance

Programming Example

Minimum permitted distance between a collision pair

Initialisation in the axis parameter list of X1

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

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.

Programming Example

2-channel collision pair with mechanically inverted motion directions

Channel 1:

Initialisation in the axis parameter list of X1

Channel 2:

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

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.

Programming Example

Collision pair with different zero positions

Initialisation in the axis parameter list of X1

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

Configuration of 2 collision pairs

Programming Example

Configuration of 2 collision pairs

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

Initialisation in the axis parameter list of X1

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

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