Anticollision Modes

Like Shield Set-based ACO, Shield Advd-based ACO will never declare a collision in either zone if the shearer arm height for that zone is below parameter Shr Arm Height (mm). If the reported arm height is equal to or greater than that value, and If the shield is “advanced”, a “collision” will be declared. If the shield becomes “not advanced” or if the arm height falls below Shr Arm Height, then the “collision” status will be cleared.

Parameter "Shr Arm Height (mm)”

Shield “Advanced” Definition

If the ram sensor is valid and turned On under the Sensor Status menu section and has a reading that is equal to, or less than, parameter Adv Collision Stroke the shield is considered to be set.

Parameter "Adv Collision Stroke”

If the ram sensor is invalid and is still On, then the shield is considered to be advanced so that machine safety is maintained. If the ram sensor is turned Off under the Sensor Status menu section then the sensor reading is ignored and it is assumed that the shield is not advanced. This effectively disables Shield Advd-based ACO for the shield.

Invalid Shearer Arm Height Considerations

As in Shield Set-based ACO, if the reported arm height is invalid then it is assumed that the arm height is above the Shr Arm Height parameter so that machine safety is maintained even with an invalid arm height reading.

E n a b l e / D i s a b l e O p t i o n s

The AntiCollision feature (ACO) is activated globally (on all shields) by parameter AntiCollision in the AntiCollision section of the menu.

Parameter "AntiCollision”

The individual modes are activated globally by the respective parameters.

Parameters “Flipper-based ACO” “Shield Set-based ACO” “Shield Advd-based ACO”

As described in the previous sections, ignoring sensors can effectively disable certain modes in an individual shield. There are no parameters that are specific to Anticollision that allow Anticollision to be enabled or disabled on individual shields.

R e s t r i c t i o n s

Anticollision is not subject to any restrictions since it does not cause shield movement.

There are no AntiCollision errors.

P a r a m e t e r S u m m a r y

Anti-Collision On, Off

Turns the anti-collision feature On or Off overall. If Off, no anti-collision checking is done. If On, the anti-collision options Allowed in the following parameters will function.

Flipper-based ACO Allowed, Not Allowed

Allow flipper anti-collision. If On, flippers must be retracted in the drum zones and over the body of the shearer.

Shield Set-based ACO Allowed, Not Allowed

Allow anti-collision based on whether the shield is set. This only applies in the drum zones and only if the shearer arm height is above the value set in the Shr Arm Height parameter. If On, the shield must have at least one leg with 100bar pressure.

Shield Advd-based ACO Allowed, Not Allowed

Allow anti-collision based on whether the shield is advanced. This only applies in the drum zones and only if the shearer arm height is above the value set in the Shr Arm Height parameter. If On, the shield must have a ram stroke greater than the value set in the Adv Collision Stroke parameter.

Dist to HG Drum 2-8

Distance (in shields) from shearer tracking point to the nearest edge of the headgate cutting drum.

Dist to TG Drum 2-8

Distance (in shields) from shearer tracking point to the nearest edge of the tailgate cutting drum.

Drum Zone (T->H Dir) 1-5

Size (in shields) of the drum zone that covers the drum and reaches out ahead of the drum when cutting towards the head gate.

Drum Zone (H->T Dir) 1-5

Size (in shields) of the drum zone that covers the drum and reaches out ahead of the drum when cutting towards the tailgate.

Adv Collision Stroke 10-90

Shields with ram stroke less than or equal to this are considered Advanced for purposes of Shield Advd-based anticollision.

Shr Arm Height (mm) 500-5000

If the arm height of the shearer is greater than this, then the drum zone will protect against advanced shields and not-set shields.

Flipper Limit 5-90

If the flipper is not retracted at least this much, the flipper is considered Extended for purposes of Flipper-based anti-collision.