Owner's manual

Chapter 30

Using a 9/Series Dual--processing System

CAUTION: The distance between the boundaries before a

collision is detected is dependant upon factors such as:

speed of the axes

direction of axis travel with relationship to one another

For example, a programmed collision between two axes

traveling at rapid directly towards one another may not be

detected in time to fully stop the axes before some overlap of

the interference boundary occurs. Make your boundary areas as

large as possible (definitely larger than the actual physical

dimensions of the protected fixture) to allow for this potential

overlap condition.

Only two axes can be entered in an interference table (available axes are

configured in AMP). To prevent a collision, other axes must rely on

protection by this interference area, or depend on you to use extra care

when programming or manually positioning the axes to prevent a collision.

Figure 30.6

Protecting Additional Axes with Interference Checking

Process 2

Process 1

Though onlyXand Zdefinethis interferencearea,

some protection is alsooffered to avoid YVcollisions since an

Xor Z collision would be detecte d anytime Y would collide.

Thisprotection,however, willcause the controlto detecta

collision even ifsufficientclearance existson theX orZ axis.

Disable interferencecheckingwhen itis necessary tooverlap

a third axis.

No limits

for the Y

axis