Siemens SINUMERIK 840D sl Programming Manual
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Siemens SINUMERIK 840D sl Programming Manual

Sinumerik run myrobot /direct control
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Download this manual See also: Operation and Programming Manual, Programming Manual
SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyRobot /Direct
Control
Programming Manual
Valid for
Control
SINUMERIK 840D sl
Software
NCU system software for 840D sl
12/2018
A5E45237742B AB
version
4.8 SP3
Preface
Fundamental safety
instructions
Introduction
Coordinate systems
Programming
Measuring cycles
Examples
Service & support
1
2
3
4
5
6
A

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Summary of Contents for Siemens SINUMERIK 840D sl

  • Page 1 Preface Fundamental safety instructions Introduction SINUMERIK Coordinate systems SINUMERIK 840D sl SINUMERIK Run MyRobot /Direct Programming Control Measuring cycles Programming Manual Examples Service & support Valid for Control SINUMERIK 840D sl Software version NCU system software for 840D sl 4.8 SP3...
  • Page 2 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 3: Preface

    Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
  • Page 4 Note regarding the General Data Protection Regulation Siemens observes standard data protection principles, in particular the principle of privacy by design. That means that this product does not process / store any personal data, only technical functional data (e.g. time stamps).

  • Page 5: Table Of Contents

    Industrial security ........................13 Residual risks of power drive systems ...................15 Introduction..............................17 Programming 6-axis robots ....................17 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ..18 Coordinate systems............................19 Overview ..........................19 Basic coordinate system ......................21 Flange coordinate system ......................23 3.3.1...
  • Page 6 Table of contents Examples..............................47 Program example - programming commands................47 Program example - measuring cycles..................48 Service & support ............................51 SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 7: Fundamental Safety Instructions

    Fundamental safety instructions General safety instructions WARNING Electric shock and danger to life due to other energy sources Touching live components can result in death or severe injury. ● Only work on electrical devices when you are qualified for this job. ●...
  • Page 8 Fundamental safety instructions 1.1 General safety instructions WARNING Electric shock due to equipment damage Improper handling may cause damage to equipment. For damaged devices, hazardous voltages can be present at the enclosure or at exposed components; if touched, this can result in death or severe injury.
  • Page 9 ● If you come closer than around 2 m to such components, switch off any radios or mobile phones. ● Use the "SIEMENS Industry Online Support app" only on equipment that has already been switched off. WARNING...
  • Page 10 Fundamental safety instructions 1.1 General safety instructions WARNING Malfunctions of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. ●...

  • Page 11: Equipment Damage Due To Electric Fields Or Electrostatic Discharge

    Fundamental safety instructions 1.2 Equipment damage due to electric fields or electrostatic discharge Equipment damage due to electric fields or electrostatic discharge Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge. NOTICE Equipment damage due to electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged individual...

  • Page 12: Warranty And Liability For Application Examples

    Fundamental safety instructions 1.3 Warranty and liability for application examples Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.

  • Page 13: Industrial Security

    Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure to cyber...
  • Page 14 Fundamental safety instructions 1.4 Industrial security WARNING Unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. ●...

  • Page 15: Residual Risks Of Power Drive Systems

    Fundamental safety instructions 1.5 Residual risks of power drive systems Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1.
  • Page 16 Fundamental safety instructions 1.5 Residual risks of power drive systems SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 17: Introduction

    Introduction Programming 6-axis robots This manual supports you when programming a 6-axis robot with a SINUMERIK 840D sl. Specific know-how is required when it comes to programming 6-axis robots. This know-how is summarized in this manual. This manual does not discuss any general know-how regarding programming with SINUMERIK 840 sl.

  • Page 18: Overview Of The Manuals For Sinumerik 840D Sl And Run Myrobot /Direct Control

    Introduction 2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control Overview of the manuals for SINUMERIK 840D sl and Run MyRobot / Direct Control You can find additional information in the following manuals. References ● Function description of the ROBX transformation (included in folder…/rmrdc/robx_ar/doc) ●...

  • Page 19: Coordinate Systems

    Coordinate systems Overview The term frame in the context of ROBX transformation will be explained in this chapter. Frame One coordinate system can be transitioned into another one using a frame. In so doing, a distinction is made between translation and rotation. Whereas the translation causes only an offset, the rotation turns the coordinate system with regard to the reference system.
  • Page 20 Coordinate systems 3.1 Overview Example The initial coordinate system X1, Y1, Z1 is rotated around the RPY angles as follows: ● Through angle A around the axis ● Through angle B around the ' axis '' axis ● Through angle C around the Figure 3-1 Example of rotation through the RPY angles SINUMERIK Run MyRobot /Direct Control...

  • Page 21: Basic Coordinate System

    Coordinate systems 3.2 Basic coordinate system Basic coordinate system In the default setting, the basic coordinate system lies at the foot point of the robot (dark red coordinate system in the following diagram). Consequently, this produces an offset in the Z axis compared with the internal robot coordinate system.
  • Page 22 Coordinate systems 3.2 Basic coordinate system References A detailed description of the ROBX robot transformation is available in the separate "ROBX transformation function description" documentation. SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 23: Flange Coordinate System

    Coordinate systems 3.3 Flange coordinate system Flange coordinate system 3.3.1 Flange coordinate system In the default setting, the orientation of the flange coordinate system is aligned in N62911 $MC_ROBX_TFLWP_RPY[0-2]. The offset between the manual axis and the flange is set using machine data $MC_ROBX_TFLWP_POS[0-2].

  • Page 24: Flange Coordinate System For Single Part Tools

    Coordinate systems 3.3 Flange coordinate system Machine data Value Dimension N62910 $MC_ROBX_TFLWP_POS[0] N62910 $MC_ROBX_TFLWP_POS[1] N62910 $MC_ROBX_TFLWP_POS[2] N62911 $MC_ROBX_TFLWP_RPY[0] Degrees N62911 $MC_ROBX_TFLWP_RPY[1] Degrees N62911 $MC_ROBX_TFLWP_RPY[2] Degrees See also Single part tools according to the NC convention (Page 24) Single part tools according to the Robot convention (Page 25) Multipart tools according to the NC convention (Page 27) Multipart tools according to the Robot convention (Page 28) 3.3.2...

  • Page 25: Single Part Tools According To The Robot Convention

    Coordinate systems 3.3 Flange coordinate system Machine data Value Dimension N62965 $MC_ROBX_TTCFL_POS[0] N62965 $MC_ROBX_TTCFL_POS[1] N62965 $MC_ROBX_TTCFL_POS[2] N62966 $MC_ROBX_TTCFL_RPY[0] Degrees N62966 $MC_ROBX_TTCFL_RPY[1] Degrees N62966 $MC_ROBX_TTCFL_RPY[2] Degrees N62949 ROBX_TOOL_DIR $TC_DP3[1,1 ] (Z) length L1 (for G17) $TC_DP4[1,1 ] (Y) length L2 (for G17) $TC_DP5[1,1 ] (X) length L3 (for G17) $TC_DPC1[1,1] 1st angle (rotation around Z) °...

  • Page 26: Flange Coordinate Systems For Multipart Tools

    Coordinate systems 3.3 Flange coordinate system Machine data Value Dimension N62965 $MC_ROBX_TTCFL_POS[0] N62965 $MC_ROBX_TTCFL_POS[1] N62965 $MC_ROBX_TTCFL_POS[2] N62966 $MC_ROBX_TTCFL_RPY[0] Degrees N62966 $MC_ROBX_TTCFL_RPY[1] Degrees N62966 $MC_ROBX_TTCFL_RPY[2] Degrees N62949 $MC_ROBX_TOOL_DIR $TC_DP3[1,1 ] (Z) length L1 (for G17) $TC_DP4[1,1 ] (Y) length L2 (for G17) $TC_DP5[1,1 ] (X) length L3 (for G17) $TC_DPC1[1,1] 1st angle (rotation around Z) °...

  • Page 27: Multipart Tools According To The Nc Convention

    Coordinate systems 3.3 Flange coordinate system The following shows the parametrization of a multipart tool using the example of a milling spindle. A distinction is made between multipart tools according to the NC convention and the Robot convention. See also Multipart tools according to the NC convention (Page 27) Multipart tools according to the Robot convention (Page 28) 3.3.3.1...

  • Page 28: Multipart Tools According To The Robot Convention

    Coordinate systems 3.3 Flange coordinate system Machine data Value Dimension $TC_DPC2[1,1] 2nd angle (rotation around Y) ° $TC_DPC3[1,1] 3rd angle (rotation around X) ° Note With the setting ROBX_TOOL_DIR = 1, you define the tool direction according to the NC convention, this means positive tool lengths are taken into account in the negative X, Y, Z axes.
  • Page 29 Coordinate systems 3.3 Flange coordinate system Machine data Value Dimension N62965 $MC_ROBX_TTCFL_POS[0] -200 N62965 $MC_ROBX_TTCFL_POS[1] N62965 $MC_ROBX_TTCFL_POS[2] -150 N62966 $MC_ROBX_TTCFL_RPY[0] Degrees N62966 $MC_ROBX_TTCFL_RPY[1] Degrees N62966 $MC_ROBX_TTCFL_RPY[2] Degrees N62949 $MC_ROBX_TOOL_DIR $TC_DP3[1,1 ] (Z) length L1 (for G17) $TC_DP4[1,1 ] (Y) length L2 (for G17) $TC_DP5[1,1 ] (X) length L3 (for G17) $TC_DPC1[1,1] 1st angle (rotation around Z) °...
  • Page 30 Coordinate systems 3.3 Flange coordinate system SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 31: Programming

    The most common methods for programming robots are described in the following. References Additional programming information, such as orientation programming with the A3, B3 and C3 vectors, are described in the SINUMERIK 840D sl / 828D Fundamentals programming manual. SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 32: Axial Programming

    Programming 4.1 Axial programming Axial programming For axial programming, you must deactivate transformation using the modal TRAFOOF programming command. Then enter an axial position. The axial position refers to the machine axes in the channel. Example N15 TRAFOOF ;N16 HOME ;HOME position N17 G0 RA1=0.0000 RA2=-90.0000 RA3=110.0000 RA4=0.0000 RA5=-20.0000 RA6=0.0000 Figure 4-1...

  • Page 33: Cartesian Programming With Virtual Rotary Axis Angles

    Programming 4.2 Cartesian programming with virtual rotary axis angles Cartesian programming with virtual rotary axis angles For Cartesian programming, you must activate transformation using the modal TRAAORI programming command. Then enter a Cartesian position X, Y, Z - and an orientation A, B, C. Example N15 TRAORI N16 G0 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151...

  • Page 34: Orientation Programming

    Programming 4.3 Orientation programming Orientation programming 4.3.1 Overview The orientation is programmed via virtual rotary axis angles A, B, C. When doing this, the tool coordinate system (TCS) is rotated with respect to the reference coordinate system. The reference coordinate system can be either the machine coordinate system (MCS) or the workpiece coordinate system (WCS).
  • Page 35 Programming 4.3 Orientation programming Figure 4-2 Example for programmed rotation A=0 B=-90 C=0 with ORIVIRT1 Figure 4-3 Orientation programming (ORIMKS) without tool SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...
  • Page 36 Programming 4.3 Orientation programming Actual value display in SINUMERIK Operate: WCS actual value MCS actual value Example, orientation programming (ORIMKS) with active tool The following programming example shows orientation programming in the workpiece coordinate system (ORIWKS) with active tool (configuration see Chapter Multipart tools according to the Robot convention (Page 28)).
  • Page 37 WCS actual value MCS actual value References Further types of orientation programming are included in the "SINUMERIK 840D sl / 828D Fundamentals" and "SINUMERIK 840D sl / 828D Job Planning" programming manuals. SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 38: Cartesian Ptp Travel

    Cartesian position with synchronous axis motion. You also have the possibility of changing the joint position. References General Information about Cartesian PTP travel is included in the "SINUMERIK 840D sl / 828D Expansion Functions" manual, Chapter "Cartesian PTP travel". 4.4.2 Activation You activate this function using the PTP programming command.

  • Page 39: Robot Position Stat (Status)

    Programming 4.5 Robot position STAT (status) Robot position STAT (status) A Cartesian position must be able to be converted uniquely into an axis angle. Enter the position of the joints under the STAT address. The STAT address contains a bit for every possible setting as a binary value.
  • Page 40 Programming 4.5 Robot position STAT (status) STAT = 1 ('B001') Programming Graphic STAT = 1 ('B001') Bit 0: 1 Shoulder left Bit 1: 0 Elbow Down, A3 < 0° Bit 2: 0 no Handflip, A5 > 0° Example: N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95 N16 ORIMKS N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B001' F2000 STAT = 2 ('B010')
  • Page 41 Programming 4.5 Robot position STAT (status) STAT = 3 ('B011') Programming Graphic STAT = 3 ('B011') Bit 0: 1 Shoulder left Bit 1: 1 Elbow Up, A3 ≥ 0° Bit 2: 0 no Handflip, A5 > 0° Example: N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95 N16 ORIMKS N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B011' F2000 STAT = 4 ('B100')
  • Page 42 Programming 4.5 Robot position STAT (status) STAT = 5 ('B101') Programming Graphic STAT = 5 ('B101') Bit 0: 1 Shoulder left Bit 1: 0 Elbow Down, A3 < 0° Bit 2: 1 Handflip, A5 ≤ 0° Example: N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95 N16 ORIMKS N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B101' F2000 STAT = 6 ('B110')
  • Page 43 Programming 4.5 Robot position STAT (status) STAT = 7 ('B111') Programming Graphic STAT = 7 ('B111') Bit 0: 1 Shoulder left Bit 1: 1 Elbow Up, A3 ≥ 0° Bit 2: 1 Handflip, A5 ≤ 0° Example: N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95 N16 ORIMKS N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B111' F2000 SINUMERIK Run MyRobot /Direct Control...

  • Page 44: Axis Angular Position Tu (Turn)

    Programming 4.6 Axis angular position TU (turn) Axis angular position TU (turn) In order that you can uniquely approach an axis angle that is greater than ±180°, then you must program this information under address TU (turn). Address TU represents the sign of the axis angle.

  • Page 45: Measuring Cycles

    Measuring cycles Information about the measuring cycles ● Use the measuring cycles in conjunction with standard industrial robots with SINUMERIK 840Dsl - as described in the Programming Manual Measuring Cycles. ● It is essential that you calibrate a robot in order to improve the accuracy of the measurement results.
  • Page 46 Measuring cycles 5.1 Information about the measuring cycles SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

  • Page 47: Examples

    Examples Program example - programming commands The following part program illustrates the commands explained in Chapter Programming (Page 31) as example: N1 G90 ; activation of an absolute position N2 T=“T8MILLD20“ D1 M6 ; activation of a tool N3 TRAORI ; activation of ROBX transformation for Cartesian traversing ;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90);...

  • Page 48: Program Example - Measuring Cycles

    Examples 6.2 Program example - measuring cycles Program example - measuring cycles The program example shows how to use measuring cycles corresponding to the scene shown in the diagram. Figure 6-1 Robot scene for program example - measuring cycles SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...
  • Page 49 Examples 6.2 Program example - measuring cycles Program example ; home ;defined start position N1 G0 RA1=0 RA2=-90 RA3=110 RA4=0 RA5=-20 RA6=0 N2 TRAORI ;activation of ROBX transformation for Cartesian traversing ; $P_UIFR[1]=CTRANS(X,(1767),Y,(197),Z,907):CROT(X,0,Y,0,Z,-52) ; actual value of the work offset G54 (X0,G54 ; Y0,G54) N3 G54 ;activation of the work offset N4 G0 A0 B0 C0 ;...
  • Page 50 Examples 6.2 Program example - measuring cycles N21 G0 Z20 ; starting point in Z for measuring cycle 978 N22 CYCLE978(100,10001,,1,0,30,100,3,2,1,"",,0,1.01,1.01,-1.01,0.34,1,0,,1,1) ; determination of the zero in Z N23 G0 Z50 ; safety clearance for repositioning N24 G0 A0 B0 C0 ;...

  • Page 51: Service & Support

    Our Service & Support accompanies you worldwide in all matters concerning automation and drives from Siemens. We provide direct on-site support in more than 100 countries through all phases of the life cycle of your machines and plants.
  • Page 52 Training Extend your market lead – with practice-oriented know-how directly from the manufacturer. Your local SIEMENS office will provide you with information about the training courses that are available. Engineering support Support with project engineering and development with services tailored to requirements from configuration through to implementation of an automation project.
  • Page 53 Service & support The services of a service program can be flexibly adapted at any time and used independently of each other. Examples of service programs: ● Service contracts ● Plant IT Security Services ● Life Cycle Services for Drive Engineering ●...
  • Page 54 Service & support SINUMERIK Run MyRobot /Direct Control Programming Manual, 12/2018, A5E45237742B AB...

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