Siemens SINUMERIK 840D sl Commissioning Manual page 43

3. Start the drive macro in SINAMICS.
The drive macro puts the 6 third-party motors of the 6 robot axes into operation. In addition,
the drive macro sets the controller data described in Section Calculating controller data
(Page 53) for each robot axis. 2 DDS are created for each axis so that the previously
calculated controller data is not overwritten during an optimization with AST (see
Section Auto Servo Tuning (AST) for the robot axes (Page 53)). The drive macro thus
replaces the third-party motor commissioning via SINUMERIK Operate. The macro is
copied via the CMC script into the CF card path of the NCU
pmacros/003/p15 or of the NX /card/oem/sinamics/data/pmacros/004/p15 . The following
execution authorizations are automatically set (in the properties of the file).
Figure 5-12
Two drive macros are copied to the CF card per robot. In this way, depending on the DQ
topology, you can put the 6 Sinamics drives on the NCU or on the NX into operation. For an
installation of 3 robots, 6 macros are copied to the CF card, 3 in the NX path and 3 in the
NCU path.
The naming of the drive macros is as follows:
Note
Only start one drive macro per robot!
Starting the drive macro
Proceed as follows to start the drive macro pm000910.acx:
– Set parameter p9 of the Control Unit to "1".
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
Properties of the file
Robots
1st robot
2nd robot
3rd robot
NCU
pm000910.acx
pm000920.acx
pm000930.acx
Commissioning
5.6 Manual steps after installation
/card/oem/sinamics/data/
NX
pm000911.acx
pm000921.acx
pm000931.acx
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