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Siemens SINUMERIK 840D sl Commissioning Manual

Sinumerik run myrobot /direct control
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SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyRobot /Direct
Control
Commissioning Manual
Valid for
Control
SINUMERIK 840D sl
Software
NCU system software for 840D sl
12/2018
A5E45238414B AB
Preface
Fundamental safety
instructions
Introduction
Requirements for
commissioning
Configuring
Commissioning
Data protection concept
Machine data
Alarm, fault and system
events
Troubleshooting/FAQs
Service & Support
version
4.8 SP3
1
2
3
4
5
6
7
8
9
A

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Summary of Contents for Siemens SINUMERIK 840D sl

  • Page 1 Preface Fundamental safety instructions Introduction SINUMERIK Requirements for commissioning SINUMERIK 840D sl SINUMERIK Run MyRobot /Direct Configuring Control Commissioning Commissioning Manual Data protection concept Machine data Alarm, fault and system events Troubleshooting/FAQs Service & Support Valid for Control SINUMERIK 840D sl...
  • 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

    Residual risks of power drive systems ...................15 Introduction..............................17 Configuration and commissioning of 6-axis robots ..............17 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ..18 System overview of SINUMERIK 840D sl with 6-axis robot...........19 Procedure when engineering and commissioning ..............20 Requirements for commissioning .......................21...
  • Page 6 Table of contents Principle of operation of ROPE compile cycle................58 CMC script ..........................59 Machine data ..............................61 Overview ..........................61 NC machine data ........................62 7.2.1 General machine data......................62 7.2.2 Channel-specific machine data ....................65 7.2.3 Channel-specific setting data ....................79 7.2.4 Axis-specific machine data.....................81 Drive machine data ........................84 7.3.1 Control Unit parameters ......................84...

  • 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 Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 17: Introduction

    This document will not go into detail about the general knowledge needed for configuring and commissioning with SINUMERIK 840D sl. You can find additional notes relating to references in Section Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control (Page 18).

  • 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 further information in the following manuals. SIEMENS ● SINAMICS Low Voltage Engineering Manual (V6.5) ●...

  • Page 19: System Overview Of Sinumerik 840D Sl With 6-Axis Robot

    Introduction 2.3 System overview of SINUMERIK 840D sl with 6-axis robot System overview of SINUMERIK 840D sl with 6-axis robot Example system configuration The following figure shows an example system layout for connecting a 6-axis robot to a SINUMERIK 840D sl.

  • Page 20: Procedure When Engineering And Commissioning

    Introduction 2.4 Procedure when engineering and commissioning Procedure when engineering and commissioning The following gives you an overview of the necessary work steps for configuring and commissioning SINUMERIK Integrate Run MyRobot /Direct Control. Configuring and commissioning Run MyRobot /Direct Control Sequence Reference to section Configuration...

  • Page 21: Requirements For Commissioning

    Requirements for commissioning To commission a 6-axis robot with SINUMERIK Integrate Run MyRobot /Direct Control, you need the following hardware and software components. The components differ, depending on the type of robot. You will get a complete description of the necessary components for the corresponding type of robot when you configure the system using SIZER (see Section Configuration with SIZER (Page 23)).
  • Page 22 ● A maximum of 3 robots are controlled in 3 channels. ● Up to 3 linear and 3 rotary supplementary axes per channel are supported (see ROBX documentation, Chapter Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control (Page 18)).

  • Page 23: Configuring

    Configuration with SIZER A SIZER project is provided as a download in the SIOS Portal (https:// support.industry.siemens.com/cs/document/109758486/sinumerik-run-myrobot-direct- control?dti=0&lc=en-WW) for the respective type of robot for easy and correct configuration of the necessary hardware and software components. The SIZER projects include the minimum configuration in regard to SINAMICS drives, operator components, and software options for operating a 6-axis robot.

  • Page 24: Configuration Of A Sizer Project

    Configuring 4.2 Configuration of a SIZER project Configuration of a SIZER project Hardware components Each SIZER project contains SINAMICS drives for 6 robot axes. If possible, a layout with 3 dual- axis modules is selected because this is the most compact and most cost-effective version. The motor data and the mechanical limits (maximum torque in the drive train) of the respective robot type serve as the criteria for the layout.
  • Page 25 Configuring 4.2 Configuration of a SIZER project conditions for the DQ topology can be found in Section Generating the user-specified topology in Create MyConfig Topo (Page 31). Figure 4-2 DRIVE-CLiQ topology 24 V supply For the layout of the 24 V supply (SITOP), the sum of the rated braking currents of the 6 robot axes is entered under "Current needed for additional electronic components".
  • Page 26 Configuring 4.2 Configuration of a SIZER project As an alternative to the "SITOP modular", the "SITOP PSU8600 40A" and the associated "BUF8600 4s" buffer module are configured under "Additional components". This means the 24 V are buffered in the event of a power failure. The SINAMICS drives can brake the robot axes from maximum speed at the current limit until they come to a standstill.
  • Page 27 Configuring 4.2 Configuration of a SIZER project Figure 4-4 Ordering concept cable between base of robot, control cabinet and SINAMICS/Sensor Modul Cabinet-Mounted SMC40 Components for motors/encoders Available from Harting connector + encoder cable for connecting the robot and the Comau control cabinet Harting connector + motor cable for connecting the robot and the control Comau...

  • Page 28: Special Designs

    Configuring 4.3 Special designs Special designs Depending on the type of robot used, you must consider specific boundary conditions during the configuration. Robot types with axis fans For the following types of robots, additional 24 V wiring is needed for the control of the additional fans for cooling the motors: ●...

  • Page 29: Commissioning

    Commissioning General procedure The following flow diagram shows the general procedure for the commissioning of SINUMERIK Integrate Run MyRobot /Direct Control. Figure 5-1 Commissioning of SINUMERIK Integrate Run MyRobot /Direct Control SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 30: Requirements

    ● Optional, depends on robot type: SINUMERIK Integrate Run MyCC /AXCO has been downloaded from PridaNet. ● Optional: The example PLC project is downloaded from the SIOS Portal (https:// support.industry.siemens.com/cs/document/109758486/sinumerik-run-myrobot-direct- control?dti=0&lc=en-WW). SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 31: Generating The User-Specified Topology In Create Myconfig Topo

    Commissioning 5.3 Generating the user-specified topology in Create MyConfig Topo Generating the user-specified topology in Create MyConfig Topo Requirement Before you begin commissioning with the robot configurator, you must generate the user- specified topology for DRIVE-CLiQ. Standard topology The standard topologies for all currently supported robots are contained in a Topo project "*.uptz"...
  • Page 32 Commissioning 5.3 Generating the user-specified topology in Create MyConfig Topo ● The infeed (SLM with DRIVE-CLiQ or an ALM) must be connected as follows for the physical wiring of the DRIVE-CLiQ cable: – After the last Motor Module on axis 6: Figure 5-3 Example topology for the NJ60 with infeed on axis 6 –...
  • Page 33 Commissioning 5.3 Generating the user-specified topology in Create MyConfig Topo Adhere to this physical wiring specification to ensure error-free processing of the drive macros. Apply these specifications in an analogous manner for a drive line-up on an NX. ● The DO variables DO No. and DO name must be addressed as follows (see figure below) in order to guarantee the correct execution of the drive macro: –...
  • Page 34 Commissioning 5.3 Generating the user-specified topology in Create MyConfig Topo ● Carry out the axis-drive assignment. The example assignment for robot type NS12 1.85 is displayed in the following figure. Figure 5-7 Axis-drive assignment ● You must transfer the topology as a user-specified topology (mode: User-specified topology, transfer version: "*.utz").

  • Page 35: Robot Configurator

    Commissioning 5.4 Robot configurator Robot configurator 5.4.1 Overview The robot configurator simplifies the selection of the robot types to be installed, including the channel, the machine axes, and the drive topology. 5.4.2 Robot configurator The robot configurator allows you to easily select the robot types to be installed, including the channel, the machine axes, and the drive topology.
  • Page 36 Commissioning 5.4 Robot configurator Configuration with the robot configurator 13 14 ① Setting of the installation mode: ● New installation: Installation of a robot on a generally reset controller ● New installation with machine tool: The 1st channel is reserved for the machine tool. The robot can be installed in a channel ≥...
  • Page 37 Commissioning 5.4 Robot configurator ⑨ Selection of the mode group (BAG) ⑩ Assignment of the robot axes (channel axes) to the corresponding machine axes. If there is a change to the default assignment, you must adapt the topology project. ⑪ Setting of the rotation sequence during the orientation programming: ●...
  • Page 38 User-defined robot types If you select the robot type "User-defined", you must save the necessary data in the structure specified by Siemens in the "Customer" folder. Procedure: 1. Select the robot type "User-defined" in the robot configurator. The input field for the user folder is enabled.
  • Page 39 Commissioning 5.4 Robot configurator ① Optional: Folder "acxo" If the compile cycle AXCO is needed for the selected robot, this folder is created. Copy the downloaded compile cycle ("*.elf") into this folder. ② Folder "Macros" The files for configuring the drives are located in this folder. ③...
  • Page 40 Commissioning 5.4 Robot configurator In addition to the "RobotInstallation" folder, a CMC package (*.usz") is automatically saved. All of the files in the created folder are needed for this package. Note Select the root directory of your USB flash drive that you want to use to install the robots as the destination path.

  • Page 41: Cmc Script

    Commissioning 5.5 CMC script CMC script When the CMC package is executed, a CMC script is created. The CMC package (*.usz) is a package that can be run on Linux, that was created by Create MyConfig - Expert and was supplied for RMR /DC.

  • Page 42: Manual Steps After Installation

    Commissioning 5.6 Manual steps after installation Manual steps after installation NOTICE Non-observance of the procedure described can cause personal injury Carry out the steps described below. Non-observance can cause personal injury as well as material damage. After installation, you must manually perform the following steps: 1.
  • Page 43 Commissioning 5.6 Manual steps after installation 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.
  • Page 44 Commissioning 5.6 Manual steps after installation – Enter the macro number ("910") in parameter p15 of the Control Unit. Confirm the entry with the Enter key. Figure 5-13 Control Unit parameter – The macro now automatically carries out the commissioning of the drive and sets the optimized controller data for the respective robot axis.
  • Page 45 Commissioning 5.6 Manual steps after installation 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) –...
  • Page 46 Commissioning 5.6 Manual steps after installation 7. Check the current controllers for all of the 6 robot axes. Please proceed as follows: – Select the screen form to parameterize the measurement via menu "Commissioning → Optimization/test → Current control loop". –...
  • Page 47 Commissioning 5.6 Manual steps after installation – In the "Measurement parameters" screen form, make the following settings: → Offset = 0 rpm → Amplitude = 1% Figure 5-15 Measurement parameters – Using the vertical "Measure" softkey to open the "Measurement" screen form. Start the measurement from this screen form.
  • Page 48 Commissioning 5.6 Manual steps after installation – The following conditions must be fulfilled for an optimal frequency response: - 0 dB line is not exceeded - Bandwidth (amplitude response > -3 dB) > 600 Hz An optimally set current controller is shown in the following figure: Figure 5-16 Frequency response p1715, optimum SINUMERIK Run MyRobot /Direct Control...
  • Page 49 Commissioning 5.6 Manual steps after installation – We recommend the following procedure if the frequency response is too low or too high (see the following diagrams): - Current controller optimization (p1715) - Checking the motor data. In this case, contact the hotline. Figure 5-17 Frequency response p1715, too high Figure 5-18...
  • Page 50 Commissioning 5.6 Manual steps after installation 8. If necessary, adjust the direction of rotation of the axis ($MA_AX_MOTION_DIR) such that it corresponds to the "Technical Specification" of Comau for the respective type of robot (Chapter "Operating Areas"). Note $MC_ROBX_AXES_DIR must not be changed! SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...
  • Page 51 Commissioning 5.6 Manual steps after installation 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").
  • Page 52 Commissioning 5.6 Manual steps after installation References ● SINUMERIK 840D sl Safety Integrated plus Commissioning Manual ● Technical Specification, Comau SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 53: Calculating Controller Data

    5.7.2 Auto Servo Tuning (AST) for the robot axes With SINUMERIK 840D sl Auto Servo Tuning (AST), an optimal controller setting can be automatically determined for a feed axis. This optimal controller setting is relative to the measured dynamic response of the axis in a specific operating point (= pose + payload). The dynamic response of the robot axes can change very dramatically depending on the pose and the payload.

  • Page 54: Interpolating Special Axes

    Commissioning 5.7 Calculating controller data After a controller optimization by AST, the newly determined controller parameters are written to the active data set. When you provide a different data set as 0 for the optimization by AST, you must switch over the active data set before the optimization via the PLC. 5.7.3 Interpolating special axes For the robot-specific default controller setting, it is intended that all of the robot axes correctly...

  • Page 55: Sample Plc Application

    SIOS Portal under "Run MyRobot /Direct Control". In this example, the most important blocks are included and pre-parameterized. References Further information regarding PLC programming is provided in the Commissioning Manual SINUMERIK 840D sl. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...
  • Page 56 Commissioning 5.8 Sample PLC application SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 57: Data Protection Concept

    Data protection concept Warranty claim For Comau to grant a two-year warranty, you may only operate the machine within specified parameters (e.g. maximum speed or maximum torque of the gearbox, etc.). The data protection concept therefore prescribes that you cannot change some of the NC machine data and driver parameters.

  • Page 58: Principle Of Operation Of Rope Compile Cycle

    Data protection concept 6.2 Principle of operation of ROPE compile cycle Principle of operation of ROPE compile cycle The ROPE compile cycle is in the configuration phase after each run-up. If you start a part program/ASUB in this phase, the alarm 75042 and a missing axis release are displayed in the corresponding channel.

  • Page 59: Cmc Script

    Data protection concept 6.3 CMC script CMC script The following files are copied by the CMC script to the CF card, activated if applicable, and the corresponding or associated machine data is set: ● Copying and executing the file ccscale.acx ●...
  • Page 60 Data protection concept 6.3 CMC script This ID is entered into the MD 14510 $MN_USER_DATA_INT[0-9] depending on the channel to be installed. If, for example, the robot type NJ60 2.2 is installed in the first channel (Index 0), then $MN_USER_DATA_INT[0] = 60 is scaled. Note ●...

  • Page 61: Machine Data

    Machine data Overview The following machine data is set by the CMC script (see Section NC machine data (Page 62)) or by the drive macro (see Section Drive machine data (Page 84)). The following distinction is made for machine data: ●...

  • Page 62: Nc Machine Data

    Machine data 7.2 NC machine data NC machine data 7.2.1 General machine data Machine data Value Comment 　 　 N10000 $MN_AXCONF_MACHAX_NAME_TAB[0+x] Default assignment with RA1_x 　 　 N10000 $MN_AXCONF_MACHAX_NAME_TAB[1+x] Default assignment with RA2_x 　 　 N10000 $MN_AXCONF_MACHAX_NAME_TAB[2+x] Default assignment with RA3_x 　...
  • Page 63 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX1] 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX2] 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX3] 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX4] 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX5] 　 　 　 N13080 $MN_DRIVE_TYPE_DP[AX6] 　...
  • Page 64 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N18096 $MN_MM_NUM_CC_TOA_PARAM 　 　 　 N18360 $MN_MM_EXT_PROG_BUFFER_SIZE 2000 　 　 　 N18362 $MN_MM_EXT_PROG_NUM 　 　 　 N19100 $ON_NUM_AXES_IN_SYSTEM 　 　 　 N19110 $ON_NUM_IPO_AXES 　 　 　 　 N19220 $ON_NUM_MODE_GROUPS 　...

  • Page 65: Channel-Specific Machine Data

    Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 　 N60959 $MN_CC_ACTIVE_IN_CHAN_ROBX[2] 　 　 　 N60949 $MN_CC_ACTIVE_IN_CHAN_ROPE[0] 　 　 　 　 N60949 $MN_CC_ACTIVE_IN_CHAN_ROPE[1] 　 　 　 　 N60949 $MN_CC_ACTIVE_IN_CHAN_ROPE[2] 7.2.2 Channel-specific machine data Machine data Value Comment 　...
  • Page 66 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20080 $MC_AXCONF_CHANAX_NAME_TAB[1] "RA2" 　 　 　 N20080 $MC_AXCONF_CHANAX_NAME_TAB[2] "RA3" 　 　 　 N20080 $MC_AXCONF_CHANAX_NAME_TAB[3] "RA4" 　 　 　 N20080 $MC_AXCONF_CHANAX_NAME_TAB[4] "RA5" 　 　 　 N20080 $MC_AXCONF_CHANAX_NAME_TAB[5] "RA6" 　...
  • Page 67 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20150 $MC_GCODE_RESET_VALUES[50] According to adjustment specification Advanced Sur‐ face 　 　 　 N20152 $MC_GCODE_RESET_MODE[5] 　 　 　 N20152 $MC_GCODE_RESET_MODE[7] 　 　 　 N20170 $MC_COMPRESS_BLOCK_PATH_LIMIT According to adjustment specification Advanced Sur‐...
  • Page 68 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20460 $MC_LOOKAH_SMOOTH_FACTOR According to adjustment specification Advanced Sur‐ face 　 　 　 N20465 $MC_ADAPT_PATH_DYNAMIC[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N20465 $MC_ADAPT_PATH_DYNAMIC[1] According to adjustment specification Advanced Sur‐...
  • Page 69 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20485 $MC_COMPRESS_SMOOTH_FACTOR[4] According to adjustment specification Advanced Sur‐ face 　 　 　 N20486 $MC_COMPRESS_SPLINE_DEGREE[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N20486 $MC_COMPRESS_SPLINE_DEGREE[1] According to adjustment specification Advanced Sur‐...
  • Page 70 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20552 $MC_EXACT_POS_MODE_G0_TO_G1 According to adjustment specification Advanced Sur‐ face 　 　 　 N20560 $MC_G0_TOLERANCE_FACTOR According to adjustment specification Advanced Sur‐ face 　 　 　 N20600 $MC_MAX_PATH_JERK[0] According to adjustment specification Advanced Sur‐...
  • Page 71 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20603 $MC_CURV_EFFECT_ON_PATH_JERK[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N20603 $MC_CURV_EFFECT_ON_PATH_JERK[1] According to adjustment specification Advanced Sur‐ face 　 　 　 N20603 $MC_CURV_EFFECT_ON_PATH_JERK[2] According to adjustment specification Advanced Sur‐...
  • Page 72 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE 　 　 　 N21120 $MC_ORIAX_TURN_TAB_1[0] 1 (Cardan); 3(RPY) 　 　 　 N21120 $MC_ORIAX_TURN_TAB_1[1] 2 (Cardan); 2(RPY) 　 　 　 N21120 $MC_ORIAX_TURN_TAB_1[2] 3 (Cardan); 1(RPY) 　 　...
  • Page 73 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N21165 $MC_JOG_VELO_GEO[2] 2000 　 　 　 N21166 $MC_JOG_ACCEL_GEO[0] 　 　 　 N21166 $MC_JOG_ACCEL_GEO[1] 　 　 　 N21166 $MC_JOG_ACCEL_GEO[2] 　 　 　 N21168 $MC_JOG_JERK_GEO[0] 　 　 　 N21168 $MC_JOG_JERK_GEO[1] 　...
  • Page 74 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0] 　 　 　 N24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[1] 　 　 　 N24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[2] 　 　 　 N24130 $MC_TRAFO_INCLUDES_TOOL_1 　 　 　 N24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0] 　 　 　 N24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1] 　...
  • Page 75 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N28533 $MC_MM_LOOKAH_FFORM_UNITS According to adjustment specification Advanced Sur‐ face 　 　 　 N28540 $MC_MM_ARCLENGTH_SEGMENTS According to adjustment specification Advanced Sur‐ face 　 　 　 N28580 $MC_MM_ORIPATH_CONFIG According to adjustment specification Advanced Sur‐...
  • Page 76 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N62929 $MC_ROBX_VELCP[1] 60000 　 　 　 N62929 $MC_ROBX_VELCP[2] 60000 　 　 　 N62930 $MC_ROBX_ACCCP[0] 　 　 　 N62930 $MC_ROBX_ACCCP[1] 　 　 　 N62930 $MC_ROBX_ACCCP[2] 　 　 　 N62931 $MC_ROBX_VELORI[0] 　...
  • Page 77 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N62901 $MC_ROBX_AXES_TYPE[5] 　 　 　 N62902 $MC_ROBX_SPECIAL_KIN 　 　 　 N62903 $MC_ROBX_MAIN_AXES 　 　 　 N62904 $MC_ROBX_WRIST_AXES 　 　 　 N62905 $MC_ROBX_NUM_AXES 　 　 　 N62906 $MC_ROBX_A4PAR 　...
  • Page 78 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 　 N62912 $MC_ROBX_TIRORO_POS[1] 　 　 　 　 N62912 $MC_ROBX_TIRORO_POS[2] 　 　 　 　 N62913 $MC_ROBX_TIRORO_RPY[0] 　 　 　 　 N62913 $MC_ROBX_TIRORO_RPY[1] 　 　 　 　 N62913 $MC_ROBX_TIRORO_RPY[2] 　...

  • Page 79: Channel-Specific Setting Data

    Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 　 N62918 $MC_ROBX_AXES_DIR[4] 　 　 　 　 N62918 $MC_ROBX_AXES_DIR[5] 　 　 　 N62650 $MC_CC_AXCO_COUPLED_AXIS[3] Optional 　 　 　 N62650 $MC_CC_AXCO_COUPLED_AXIS[4] Optional 　 　 N62651 $MC_CC_AXCO_DENOMINATOR[3] Optional 　 　...
  • Page 80 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N42472 $SC_MIN_SURF_RADIUS[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N42472 $SC_MIN_SURF_RADIUS[1] According to adjustment specification Advanced Sur‐ face 　 　 　 N42472 $SC_MIN_SURF_RADIUS[2] According to adjustment specification Advanced Sur‐...

  • Page 81: Axis-Specific Machine Data

    Machine data 7.2 NC machine data 7.2.4 Axis-specific machine data Machine data Value Comment N30130 $MA_CTRLOUT_TYPE N30132 $MA_IS_VIRTUAL_AX N30200 $MA_NUM_ENCS N30240 $MA_ENC_TYPE N30300 $MA_IS_ROT_AX N30310 $MA_ROT_IS_MODULO N30320 $MA_DISPLAY_IS_MODULO N30350 $MA_SIMU_AX_VDI_OUTPUT N31020 $MA_ENC_RESOL[0,] N31050 $MA_DRIVE_AX_RATIO_DENOM[0] N31050 $MA_DRIVE_AX_RATIO_DENOM[1] N31050 $MA_DRIVE_AX_RATIO_DENOM[2] N31050 $MA_DRIVE_AX_RATIO_DENOM[3] N31050 $MA_DRIVE_AX_RATIO_DENOM[4] N31050 $MA_DRIVE_AX_RATIO_DENOM[5] N31060 $MA_DRIVE_AX_RATIO_NUMERA[0]...
  • Page 82 Machine data 7.2 NC machine data Machine data Value Comment N32310 $MA_MAX_ACCEL_OVL_FACTOR[4, According to adjustment specification Advanced Sur‐ face N32400 $MA_AX_JERK_ENABLE N32402 $MA_AX_JERK_MODE N32410 $MA_AX_JERK_TIME 0.02 N32420 $MA_JOG_AND_POS_JERK_ENABLE N32430 $MA_JOG_AND_POS_MAX_JERK N32431 $MA_MAX_AX_JERK[0] N32431 $MA_MAX_AX_JERK[1] N32431 $MA_MAX_AX_JERK[2] N32431 $MA_MAX_AX_JERK[3] N32431 $MA_MAX_AX_JERK[4] N32432 $MA_PATH_TRANS_JERK_LIM[0] N32432 $MA_PATH_TRANS_JERK_LIM[1] N32432 $MA_PATH_TRANS_JERK_LIM[2]...
  • Page 83 Machine data 7.2 NC machine data Machine data Value Comment N36010 $MA_STOP_LIMIT_FINE 0.005 N36100 $MA_POS_LIMIT_MINUS N36110 $MA_POS_LIMIT_PLUS N36200 $MA_AX_VELO_LIMIT[0,] 1.1 * $MA_MAX_AX_VELO N36200 $MA_AX_VELO_LIMIT[1,] 1.1 * $MA_MAX_AX_VELO N36200 $MA_AX_VELO_LIMIT[2,] 1.1 * $MA_MAX_AX_VELO N36200 $MA_AX_VELO_LIMIT[3,] 1.1 * $MA_MAX_AX_VELO N36200 $MA_AX_VELO_LIMIT[4,] 1.1 * $MA_MAX_AX_VELO N36200 $MA_AX_VELO_LIMIT[5,] 1.1 * $MA_MAX_AX_VELO N36610 $MA_AX_EMERGENCY_STOP_TIME...

  • Page 84: Drive Machine Data

    Machine data 7.3 Drive machine data Drive machine data 7.3.1 Control Unit parameters Machine data Value Comment p108 'H4004' Third-party motor commis‐ sioning 7.3.2 Drive parameters Machine data Value Comment p180 Number of drive datasets Third-party motor commis‐ sioning p304[0] Rated voltage Third-party motor commis‐...
  • Page 85 Machine data 7.3 Drive machine data Machine data Value Comment p350[0] Stator resistance cold (20 °C) Third-party motor commis‐ sioning p356[0] Stator leakage inductance (20 °C) Third-party motor commis‐ sioning p600[0] Selection temperature sensor Third-party motor commis‐ sioning p601[0] Selection temperature sensor Third-party motor commis‐...
  • Page 86 Machine data 7.3 Drive machine data Machine data Value Comment p1520[1] Upper torque limit (gearbox) Third-party motor commis‐ sioning p1521[0] Lower torque limit (gearbox) Third-party motor commis‐ sioning p1521[1] Lower torque limit (gearbox) Third-party motor commis‐ sioning p1810[0] Increase bandwidth of current controller Third-party motor commis‐...
  • Page 87 Machine data 7.3 Drive machine data Machine data Value Comment p1662[1] Current setpoint filter 2 type p1663[0] Current setpoint filter 2 denominator natural fre‐ quency p1663[1] Current setpoint filter 2 denominator natural fre‐ quency p1664[0] Current setpoint filter 2 denominator damping p1664[1] Current setpoint filter 2 denominator damping p1665[0] Current setpoint filter 2 counter natural frequency p1665[1] Current setpoint filter 2 counter natural frequency...
  • Page 88 Machine data 7.3 Drive machine data Machine data Value Comment p1448[1] Actual speed value filter denominator damping p1449[0] Actual speed value filter counter natural frequency p1449[1] Actual speed value filter counter natural frequency p1450[0] Actual speed value filter counter damping p1450[1] Actual speed value filter counter damping p1441[0] Actual speed value smoothing time p1441[1] Actual speed value smoothing time...

  • Page 89: Alarm, Fault And System Events

    Alarm, fault and system events CC ROPE The compile cycle ROPE generates an alarm with the number 75040. This requires a PowerOn. The alarm has two parameters with the following meanings: 75042 CCROPE: Part program/ASUB start, before ROPE has been configured Reason: ●...
  • Page 90 Alarm, fault and system events 8.1 CC ROPE 75040 CCROPE 1520 1: Both parameters are positive Reason: ● Parameter 1 addresses the index in the MD $MN_AXCONF_LOGIC_MACHAX_TAB[n], Index n = 1 addresses axis 2 ● A drive parameter to be monitored (e.g. p1520) in axis 2 cannot be read or has been changed.
  • Page 91 Alarm, fault and system events 8.1 CC ROPE 75040 CCROPE 5 1: incorrect ROPE_xxx loaded in the nth channel Reason: The ID of the respective robot type in the MD $MN_USER_DATA_INT[0-9] does not match the file ROPE_xxx. Response: PowerOn alarm Remedy: Perform a re-installation using the robot configurator or copy the suitable ROPE_xxx.cpf file for the MD $MN_USER_DATA_INT[0-9] to the "Manufac‐...

  • Page 92: 8.2 Robx_Ar

    Alarm, fault and system events 8.2 ROBX_AR ROBX_AR 75330 ROBX_AR: Incorrect ID in MD18040[6] Reason: The ID in MD18040[6] is not ROBX_AR_MD. Response: PowerOn alarm Remedy: Use the robot configurator for commissioning. 75331 ROBX_AR: Compile cycle CCROPE is not loaded Reason: In connection with CCROBX_AR and active data protection, the compile cy‐...

  • Page 93: Troubleshooting/Faqs

    Troubleshooting/FAQs Boundary conditions when creating an archive When you create an archive, back up the archive in "JOG REF" mode (transformation is suppressed - TRAFOOF). This ensures that the existing zero offsets (G54, etc.) are also imported when the archive is read in again. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 94: Archive Import Sinutrain

    Troubleshooting/FAQs 9.2 Archive import SinuTrain Archive import SinuTrain When you create a commissioning archive for importing into SinuTrain, ensure that you also back up the "compile cycles". ROBX_AR is necessary for the robot to operate correctly in SinuTrain and is also imported. Observe correct naming for the compile cycles, because the import into SinuTrain will fail if the naming convention is incorrect.

  • Page 95: Reading In A Series Commissioning Archive

    Troubleshooting/FAQs 9.3 Reading in a series commissioning archive Reading in a series commissioning archive Proceed as follows to read in a series commissioning archive: 1. Copy the file "ccscale.acx" to the folder "oem/sinumerik/nck" on the CF card. 2. Set the rights via WinSCP (executable of Group Manufact) as follows: Figure 9-1 Setting the rights via WinSCP 3.
  • Page 96 Troubleshooting/FAQs 9.3 Reading in a series commissioning archive SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

  • Page 97: 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 98 (https://support.industry.siemens.com/My/ww/en/requests#createRequest) address. 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 99 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 100 Service & Support SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 12/2018, A5E45238414B AB...

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