Siemens SINUMERIK 840D sl Commissioning Manual page 45

6. Determine the commutation angle offset for all of the robot axes.
The following variables are set by the drive macro:
– Pole ID method "saturation-based" (p1980=1)
– The max. path for the pole ID method is 1° (p1981=1)
– Pole position identification current (p329 >= 0.35*p323)
Now perform the following steps for all 6 SINAMICS drives of the robot. Begin with axis 6:
Note:
You must not linger within reach of the robot. If the identification fails, jerky movement of the
mechanisms is possible.
– Step 1: Set p1990 = 1. The SINAMICS drive determines the pole position angle during
– Step 2: To check the results, set p1983 = 1. An angle <5° must then be visible in r1984.
– Step 3: Move the axis slightly. Set p1983 = 1. The value in r1984 should be < 5°. If this
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
this (duration approx. 1 second). After completion, p1990 = 0 is set. The pol position
angular difference is shown in p1984.
is not the case, increase the current in p329 by 5 percentage points (=> 0.40*p323) and
go back to Step 1.
Commissioning
5.6 Manual steps after installation
45