July 2013 8.6 DCM – Dynamic Collision Monitoring 1429
Furthermore, the following must be noted when editing kinematics or
associated tables. Only if this is followed are changes to the kinematics
detected by the collision monitoring:
If kinematics or an associated table (e.g. CMO descriptions) are edited in
an NC program or NC macro with FN26:TABOPEN and FN27:TABWRITE, then
they must be closed after the changes are made. This occurs
automatically at the end of a program or if FN26:TABOPEN is called again.
Activation of the kinematics is permitted with FN17:SYSWRITE ID290 NR1
here, since this FN17 function automatically closes all tables before
activation. If a changed table is activated by the PLC via Module 9097
before it has been closed, the changes are not detected.
If kinematics or an associated table are opened and edited by the PLC via
Modules 9240 through 9246, they must be closed by the PLC after the
changes have been made. This must be done before activation of the
kinematics (e.g. via Module 9097), a tool call or a change of the tool data
with M4538.
If kinematics or an associated table are edited with the table editor, the
editor must be exited with the END or PGM MGT keys. If the changed
kinematics are activated (e.g. with PLC Module 9097 or FN17:SYSWRITE
ID290 NR1) before the editor has been exited, the changes will not take
effect.
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