July 2013 8.6 DCM – Dynamic Collision Monitoring 1459
The following parameters or columns with the appropriate input options are
available for modeling fixtures:
Format of the CFT/CFX table:
Column Input Description
NR 0, 1, 2 ... Automatic line numbering
KEY CMO Defines a monitorable collision body in the
current kinematics sequence. This
machine element is described by the file
(table) referenced in the FILE column.
Fixtures can also contain individual CMOs
that have already been defined, see page
1474.
Trans Here a transformation of the indicated axis
(AXIS column) in the current kinematics
sequence by the value entered in the
COORD column is performed. This can be a
linear translation as well as a rotation about
an axis.
Cylinder The following parameters for the X, Y, Z,
AXIS, RADIUS, and HEIGHT columns define
a cylindrical object, starting from the
position of the previous translation,
rotation or defined machine axis. Starting
from this point, the cylinder is offset from
X, Y and Z, and defined in the direction of
the axis entered in AXIS, with radius
(RADIUS) and height (HEIGHT).
Cuboid The following parameters for the X, Y and Z
columns define a rectangular object,
starting from the position of the previous
translation, rotation or defined machine
axis. Starting from this point, the cuboid is
defined from a minimum point in X, Y and
Z, to a maximum point in the next line in X,
Y and Z, (as with the BLK definition in
conversational programming).
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