Siemens SINUMERIK 840D sl Commissioning Manual page 49

SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
①
"Config" folder
Contains the robot-specific settings for the created robot project from the robot configurator.
• File "robot_install_1.upscr"
The file "robot_install_1.upscr" in the directory "xxx\Robotinstallation\Config" contains the
configuration created in the robot configurator. You must not edit or manipulate this file,
because it controls the sequence of the CMC script! The number of robots determines the
number of configuration files.
②
"NC" folder
Contains the following files for commissioning the NC:
• The files "control_ax_for_CMC_x.init" and "robot_md_x.upscr" are created once per robot.
• With the "md_cust.upscr" file from the directory xxx\Robotinstallation\NC you can insert
your own NC machine data. The CMC expert script is used for installation.
Applications: e.g. for the parameterization of special axes or other application-specific
settings.
The file "md_cust.upscr" is loaded with an Extcall command from the CMC ExpertScript‐
Shield package ("*.usz").
Notice: You are responsible for the content of the "md_cust.ini" file and its syntactical and
semantic correctness. For the scope of language commands (to supplement your own
machine data, script commands, etc.), refer to the CMC documentation.
③
"SINAMICS" folder
The following files are stored in this folder:
• Drive macros ("*.acx") for third-party motors or drive data ("*.init") to be imported from the
CMC script for Siemens motors.
• Selected drive topology "*.utz"
In addition to the "RobotInstallation" folder, a CMC package ("*.usz") is automatically saved.
Note
Select the root directory of your USB flash drive that you want to use to install the robots as the
destination path. In this way, you ensure that all of the files are saved at the correct location.
CAUTION
CMC package
• The CMC package ("*.usz") must be located in the root directory of the USB flash drive.
Never use a boot stick for the installation.
• Format the USB flash drive with the "FAT32" file system.
• Do not make any changes to the files, the folder structure, or the storage location of the
files!
• All of the files are correctly stored and do not have to be further edited.
Commissioning
5.4 Robot configurator
49