Siemens SINUMERIK 840D sl Commissioning Manual page 44

Commissioning
5.6 Manual steps after installation
– Enter the macro number ("910") in parameter p15 of the Control Unit. Confirm the entry
– The macro now automatically carries out the commissioning of the drive and sets the
– After successful execution of the macro, check whether the parameter p10 is set to "0"
4. Confirm the encoder serial number (p440=1) for all of the robot axes.
5. Activate at least the following Safety Integrated functions provided by SINUMERIK Safety
Integrated plus:
– SS1/STO (emergency stop) and
– Axial SLS
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with the Enter key.
Figure 5-13 Control Unit parameter
optimized controller data for the respective robot axis. The motors are commissioned in
ascending order from DO No. 3 (Axis 1) to DO No. 8 (Axis 6). This process takes
approximately 5 minutes. You can track the progress via parameter p10 (>0 for
commissioning) in the respective DO. The drive restarts several times during this
process.
and r3998 is set to "2".
The value "910" in p15 is not automatically reset.
If you want to check whether the drive macro has completely finished executing, proceed
as follows.
Try to enter a 1 in the parameter p9 of the CU after the drive macro is started. As long as
the drive macro is being processed, it is not possible to write the parameter p9. An
appropriate message is output.
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB