Siemens SINUMERIK 840D sl Commissioning Manual page 51

9. Set the adjustment/calibration values for all of the robot axes. You need the adjustment set
(calibration tool) from Comau that is right for the respective type of robot (see Comau
documentation of the respective robot type "Technical Specification" - Chapter "Devices for
calibration"). To ensure that the actual values to be set in the adjustment position are
correct, the machine data $MA_REFP_SET_POS is preset for each robot axis by the CMC
script, depending on the type of robot. The calibration position of each robot axis is also part
of the "Technical Specification" of the respective type of robot from Comau.
Figure 5-19
Procedure for setting the adjustment values of the robot axes:
In the following example, the calibration values of the 1st axis are set.
a) Using the calibration tool, move the 1st machine axis in JOG mode to the adjustment
position.
b) Set the override on the machine control panel to 0%.
c) Switch to JOG-REF mode (Machine → JOG-REF).
d) Open the "axis machine data" input screen via Commissioning -> Machine data -> Axis
machine data.
e) Set the machine data 34210 $MA_ENC_REFP_STATE[0] = 1 in the 1st axis and the
position measurement system used.
f) Switch back to JOG-REF mode (Machine → JOG-REF).
g) Select the 1st machine axis on the machine control panel.
h) Press the "+" directional movement button on the machine control panel.
i) On the 1st machine axis, the icon
Repeat steps a - i for all other axes.
10.In case of need, activate further Safety Integrated functions provided by SINUMERIK Safety
Integrated plus. Carry out the commissioning of Cartesian Safety as needed.
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
Example calibration tool with dial gauge, from Comau
5.6 Manual steps after installation
axis referenced is displayed.
Commissioning
51