3.11 Collision avoidance with kinematic chains
Note
Protection areas
The protection areas specified in the following chapters refer to the "Geometric machine
modeling" function.
Information about this function, see Function Manual Monitoring and Compensation.
3.11.1 Check for collision pair (COLLPAIR)
The COLLPAIR() function determines whether two protection areas form a collision pair.
Syntax
[<RetVal> =] COLLPAIR(<Name_1>,<Name_2>[,<NoAlarm>)])
Meaning
COLLPAIR: Check whether part of a collision pair
<RetVal>: Function return value
Data type: INT
Value:
≥ 0 The two protection zones form a collision pair.
Return value == collision pair index m (see
$NP_COLL_PAIR)
-1 Either two strings have not been specified or at least
one of the two is the zero string.
-2 The protection zone specified in the first parameter has
not been found.
-3 The protection zone specified in the second parameter
has not been found.
-4 Neither of the two specified protection zones has been
found.
-5 Both specified protection zones have been found, but
not together in a collision pair.
<Name_1>: Name of the first protection zone
Data type: STRING
Range of val‐
ues:
Parameterized protection zone names
<Name_2>: Name of the second protection area
Data type: STRING
Range of val‐
ues:
Parameterized protection zone names
Work preparation
3.11 Collision avoidance with kinematic chains
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 725
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