July 2013 8.6 DCM – Dynamic Collision Monitoring 1439
Activating and
deactivating
monitoring
Activating and deactivating monitoring
There are various methods for activating and deactivating collision monitoring.
Manual
In the Manual operating mode, press the Collision soft key to open the
"Collision monitoring (DCM)" menu, and activate or deactivate DCM for the
Manual and Program Run operating modes (active/inactive).
Depending on the settings for collision monitoring (DCM) via the
COLLISION soft key and the actual operating situation, the collision
monitoring behavior was sometimes ambiguous up to software version
60642x-03. If DCM was active for Program Run and inactive for Manual
Operation, collision monitoring was inactive in the following cases:
1. If the program was interrupted in the Program Run operating modes by
pressing NC stop and the MANUAL TRAVERSE soft key, for example.
Collision monitoring was not active when the axes were moved with the
axis-direction keys or the handwheel.
2. If the handwheel was moved in the Program Run operating modes while
the program was stopped, collision monitoring was inactive during M118 or
handwheel superimposition via the Global Settings.
In order to provide optimum protection, as of software version 60642x-03
the collision monitoring function is active in the above-mentioned cases if it
is enabled in the MOD dialog for Program Run OR Manual Operation.
PLC module or FN17
• It is always possible to create two kinematics tables with the same
kinematics description on the control for each application. One of these
tables would not contain any descriptions of collision objects (CMOs).
Depending on your needs, you can activate the kinematics with or
without collision monitoring via the PLC (Module 9097) or with FN17:
SYSWRITE ID290 NR1.
• PLC Module 9063 is used to activate and deactivate collision monitoring
(DCM) for the Program Run modes.
• Bit 3 of Module 9221 is used to deactivate collision monitoring for PLC
positioning movements. This means that it is possible to position an
axis when DCM is active and the reference marks have not yet been
traversed in all axes. A PLC positioning command can only be executed
if collision monitoring is deactivated for all axes involved in the
positioning movement. The deactivation of collision monitoring for the
PLC positioning movement does not affect the status information
provided by Module 9064.
WRITE TO KINEMATIC
At the same time, monitoring of these CMOs can be switched off by
entering "1" in the ON/OFF column of the active description table. This can
also be during program run in the active description table using the WRITE TO
KINEMATIC function.
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