● Create kinematic structure (with kinematic elements)
● Creating protection areas
● Creating protection area elements
● Define collision pairs
14.3 Set collision avoidance
Enable function
Set the following machine data item in order to enable the function:
MD19830 $ON_COLLISION_MASK Functional scope of the collision avoidance
Bit 0 Collision avoidance
Bit 1 Collision Avoidance ECO
Bit 2 Collision Avoidance ADVANCED
Parameter assignment
No. Identifier Meaning
MD10619 $MN_COLLISION_TOLERANCE Collision tolerance
MD10622 $MN_COLLISION_SAFETY_DIST Safety clearance
MD18896 $MN_MM_MAXNUM_3D_COLLISION Memory location for the collision avoidance
MD18880 $MM_MAXNUM_KIN_CHAIN_ELEM Maximum number of elements for kinematic chains
MD16800 $MN_ROOT_KIN_ELEM_NAME Name of the first element in the kinematic chain
MD18890 $MN_MM_MAXNUM_3D_PROT_AREAS Maximum number of protection areas
MD18892 $MN_MM_MAXNUM_3D_PROT_AREA_ELEM Maximum number of protection area elements
MD18893 $MN_MM_MAXNUM_3D_T_PROT_ELEM Maximum number of tool protection area elements
MD18897 $MN_MM_MAXNUM_3D_INTERFACE_IN Maximum number of NC/PLC interface signals for
the preactivation of protection areas
MD18895 $MN_MM_MAXNUM_3D_FACETS Maximum number of triangles for protection areas
MD18894 $MN_MM_MAXNUM_3D_FACETS_INTERN Maximum number of triangles for automatic tool pro‐
tection areas
MD18899 $MN_PROT_AREA_TOOL_MASK Creation mode for automatic tool protection areas
MD51160 $MNS_ACCESS_WRITE_CA_MACH_JOG Write protection level, collision monitoring machine
jog
MD51161 $MNS_ACCESS_WRITE_CA_MACH_AUTO Write protection level, collision monitoring machine
automatic
MD51162 $MNS_ACCESS_WRITE_CA_TOOL Write protection level collision monitoring tool
MD16900 $MN_COLLISION_EXT_FUNCTION_MASK Parameter assignment for external collision check
MD16901 $MN_COLLISION_EXT_PREVIEW_TIME Preview time for external collision check
MD16902 $MN_COLLISION_EXT_PREVIEW_STEP Preview time step for external collision check
MD16903 $MN_COLLISION_EXT_TIMEOUT Timeout for external collision check
Collision avoidance
14.3 Set collision avoidance
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1 291
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