# Examples

## Minimum permitted distance

Minimum permitted distance between a collision pair

## Programing Example

Minimum permitted distance between a collision pair

Initialisation in the axis parameter list of X1

kopf.achs_nr 1

kenngr.achs_mode 0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr 2

kenngr.achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 200000

## Axis motion direction

The collision monitor assumes that the axes affected move in the same direction. If a motion in positive direction was programmed for the two axes in a collision pair, the axes also move mechanically in the same direction.

If this precondition is not fulfilled, it must be displayed in P-AXIS-00262 (coll_moving_dir_inverted) of the master axis.

Collision pair with 2 channels and mechanically inverted motion directions

## Programing Example

2-channel collision pair with mechanically inverted motion directions

Channel 1:

Initialisation in the axis parameter list of X1

kopf.achs_nr 1

kenngr.achs_mode 0x8001

Channel 2:

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr 6

kenngr.achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 200000

kenngr.coll_moving_dir_inverted 1

kenngr.coll_decelerate_chan 1

## Zero positions of the axes

If the collision axes do not have the same zero position, then enter the zero offset in P-AXIS-00263 (coll_zero_position_offset). The value of the P-AXIS-00263 is equal to the position of the zero position of the collision partner axis in the axis coordinate system of the master axis.

Collision pair with different zero positions

## Programing Example

Collision pair with different zero positions

Initialisation in the axis parameter list of X1

kopf.achs_nr 1

kenngr.achs_mode 0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr 2

kenngr.achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 200000

kenngr.coll_zero_position_offset -1000000

## Configuration of 2 collision pairs

Configuration of 2 collision pairs

## Programing Example

Configuration of 2 collision pairs

This example defines two collision pairs (X1-X2, X2-X3):

Initialisation in the axis parameter list of X1

kopf.achs_nr 1

kenngr.achs_mode 0x8001

Initialisation in the axis parameter list of X2 (collision partner of X1)

kopf.achs_nr 2

kenngr.achs_mode 0x8001

kenngr.coll_check_ax_nr 1

kenngr.coll_offset 200000

Initialisation in the axis parameter list of X3 (collision partner of X2)

kopf.achs_nr 3

kenngr.achs_mode 0x8001

kenngr.coll_check_ax_nr 2

kenngr.coll_offset 300000