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Siemens SINUMERIK 840D sl Commissioning Manual
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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 system
SINUMERIK 840D sl
Software
NCU system software for 840D sl
07/2020
A5E45238414B AD
version
4.8 SP6
Preface
Fundamental safety
instructions
Introduction
Requirements for
commissioning
Configuring
Commissioning
Data protection concept
Machine data
Alarm, fault and system
events
Troubleshooting/FAQs
Service & Support
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 system 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

    Introduction ............................15 Configuration and commissioning of 6-axis robots.............. 15 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ..... 15 System overview of SINUMERIK 840D sl with 6-axis robot ........... 16 Procedure when engineering and commissioning ............... 16 Requirements for commissioning......................
  • Page 6 Table of contents 5.6.1 Manual steps after installation for third-party motors............51 5.6.2 Manual steps after installation for Siemens motors ............. 59 Controller data........................61 5.7.1 Controller data - default setting..................61 5.7.2 Selection of the data set..................... 62 5.7.3 Parameterization of the jerk limit and the jerk filter .............

  • 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 • Therefore, if you move closer than 20 cm to the components, be sure to switch off radio devices or mobile telephones. • 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 Unexpected movement of machines caused by inactive safety functions Inactive or non-adapted safety functions can trigger unexpected machine movements that may result in serious injury or death. • Observe the information in the appropriate product documentation before commissioning. •...

  • Page 11: Equipment Damage Due To Electric Fields Or Electrostatic Discharge

    Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement –...
  • Page 12 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 13: 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 14 Fundamental safety instructions 1.5 Residual risks of power drive systems SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 15: 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 15).

  • Page 16: System Overview Of Sinumerik 840D Sl With 6-Axis Robot

    Introduction 2.4 Procedure when engineering and commissioning System overview of SINUMERIK 840D sl with 6-axis robot Example of a system configuration The following figure shows an example system layout for connecting a 6-axis robot to a SINUMERIK 840D sl. SINUMERIK OP...
  • Page 17 Introduction 2.4 Procedure when engineering and commissioning Sequence Reference to section ③ Configuration using the robot configurator Robot configurator (Page 36) ④ Executing the CMC script CMC script (Page 50) ⑤ Manual steps after installation Manual steps after installation (Page 50) ⑥...
  • Page 18 Introduction 2.4 Procedure when engineering and commissioning SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 19: Requirements For Commissioning

    Requirements for commissioning To commission a 6-axis robot with SINUMERIK 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 21)).
  • Page 20 • 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 15)).

  • Page 21: Configuring

    A SIZER project is provided as a download in the SIOS Portal (https:// support.industry.siemens.com/cs/document/109757564) 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 22 Configuring 4.2 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 23 Configuring 4.2 Configuration of a SIZER project Figure 4-2 DRIVE-CLiQ topology (third-party motor) SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 24 Configuring 4.2 Configuration of a SIZER project 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". Figure 4-3 Layout of 24 V supply As an alternative to the "SITOP modular", the "SITOP PSU8600 40A"...
  • Page 25 Configuring 4.2 Configuration of a SIZER project Note that the option CC AXCO (mechanical positive coupling of the hand axes) is not needed for every type of robot. The option is included in the SIZER projects as needed. Motor and encoder cables Both the motor and encoder cables between the robot base and the control cabinet and the control cabinet-internal motor and encoder cables are supplied by the robot manufacturer.

  • Page 26: Configuration Of A Sizer Project For Robots With Siemens Motors

    • EMC Installation Guideline Configuration Manual / Basic system requirements (01/2012) See also Robot configuration (Page 41) 4.2.2 Configuration of a SIZER project for robots with Siemens motors Robot manufacturer with Siemens motors • MABI 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.
  • Page 27 SIZER project. You can export the drive configuration ("*.utz") directly from the CMC Topo project ("*.uptz"). Figure 4-6 DRIVE-CLiQ topology (Siemens motors) Further constraints for the DQ topology are contained in section Creating a user-specified topology in Create MyConfig Topo (Page 33).
  • Page 28 Motor cable for connecting the robot and the control cabinet (fully pre- Robot manufactur‐ assembled) Control cabinet-internal motor and encoder cables incl. motor plugs Siemens (SIZER project) Harting plug components for motor and encoder cable for installation in Harting the control cabinet wall (parts list available from the robot manufacturer)
  • Page 29 Configuring 4.2 Configuration of a SIZER project References Further information on the measures can be found in the following manuals: • SINAMICS Low Voltage Engineering Manual (V6.5) • EMC Installation Guideline Configuration Manual / Basic system requirements (01/2012) SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 30 Configuring 4.2 Configuration of a SIZER project SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 31: Commissioning

    Commissioning General procedure The following flow diagram shows the general procedure for the commissioning of SINUMERIK Integrate Run MyRobot /Direct Control. Start robot configurator (RobotConfigurati- on.exe) from RMRDC delivery package Configure the robot Generate configuration in robot configura- tor with "Export" Copy the robot configurator's export to a USB flash drive Connect USB stick to NCU port...

  • Page 32: Requirements

    • SINUMERIK Integrate Run MyCC /ROBX_AR has been downloaded from PridaNet. • Optional, depends on robot type: SINUMERIK Integrate Run MyCC /AXCO has been downloaded from PridaNet. • Optional: PLC model project is downloaded from SIOS Portal (https:// support.industry.siemens.com/cs/document/109758486). SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 33: Generating The User-Specified Topology In Create Myconfig Topo

    Alternatively, or for complex DQ topologies, you can also determine the currently installed DQ topology by means of an automatic device configuration in Sinumerik Operate. The procedure is described in the Commissioning Manual "SINUMERIK 840D sl Commissioning CNC: NC, PLC, Drives" in the chapter "Automatic device configuration".
  • Page 34 Commissioning 5.3 Generating the user-specified topology in Create MyConfig Topo • The infeed (SLM with DRIVE-CLiQ) must be connected as follows when performing 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 35 Siemens motors. The robot configurator checks the correct assignment of the DO variables according to this scheme and indicates a necessary change.

  • Page 36: Robot Configurator

    • You must transfer the topology as a user-specified topology (mode: User-specified topology, transfer version: "*.utz"). References SINUMERIK Integrate Create MyConfig – Diff, Expert, Topo Operating Manual Commissioning Manual, SINUMERIK 840D sl Commissioning CNC: NC, PLC, Drive Robot configurator 5.4.1 Starting the robot configurator With the Run MyRobot /Direct Control robot configurator you can select the robot type to be installed, including the channel, the machine axes and the drive topology.

  • Page 37: Operating The Robot Configurator

    Commissioning 5.4 Robot configurator 5.4.2 Operating the robot configurator 5.4.2.1 Project management The Run MyRobot /Direct Control robot configurator application starts in the "Project management" operating area. ① Help: Display of the documentation ② Title: Display of the current operating area of the robot configurator ③...
  • Page 38 Commissioning 5.4 Robot configurator ⑤ Project overview: Overview of the last opened robot configurations with project name, project path, and date of the last project change ⑥ • Remove Remove projects from the project overview. The robot project is only deleted from the overview and is retained on the data storage medium.

  • Page 39: Project Configuration

    Commissioning 5.4 Robot configurator 5.4.2.2 Project configuration In the "Project configuration" operating area, you can adapt the settings for the currently open project, including the installation type, robot manufacturer, and number of robots. ① Basic functions: Close project Save project Save project as ②...
  • Page 40 Commissioning 5.4 Robot configurator ⑥ Specification of the storage location for the Compile Cycles AXCO folder. This field is only activated if the selected robot type requires the Compile Cycle AXCO. ⑦ Specification of the storage location of the control project to be created and selection option to access the storage location automatically after creating the control project.

  • Page 41: Robot Configuration

    Commissioning 5.4 Robot configurator 5.4.2.3 Robot configuration In the "Configure robot n" operating area, you can make channel-specific settings for individual robots. ① Selection of the type of robot ② Display of the robot ID and image of the selected robot type ③...

  • Page 42: Machine Tool Configuration

    Commissioning 5.4 Robot configurator 5.4.2.4 Machine tool configuration In the "Machine tool" operating area, you can make settings such as NC channel and axis assignment. Note The "Machine tool" operating area is only displayed if you have selected the "First commissioning with machine tool"...

  • Page 43: Drive Topology

    Commissioning 5.4 Robot configurator Figure 5-11 Robot configurator - Configuring a machine tool 5.4.2.5 Drive topology You select the project-specific drive topology in the "Topology" operating area. ① Specification of the storage location for the drive topology folder ("*.utz"). ② Display of the selected drive topology.
  • Page 44 Commissioning 5.4 Robot configurator Notes on the topology The DRIVE-CLiQ wiring, also called drive topology, is stored by default in the "cmc" folder of the delivery package as a "*.uptz" file. This file contains the topologies for all robot types contained in the robot configurator.

  • Page 45: Settings

    Selection of the Customer.zip file to import a new robot type. The Customer.zip file for a new robot type is provided via the SIOS website (https://support.industry.siemens.com/cs/ document/109757564) or by Siemens Service. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 46 Commissioning 5.4 Robot configurator ⑤ Import of a new robot type into the robot configurator. After successful import, you can select the new robot type just like a robot included in the basic delivery package. The new robot type is displayed in the robot catalog. ⑥...

  • Page 47: Info

    Commissioning 5.4 Robot configurator 5.4.2.7 Info ① Display of the Run MyRobot /Direct Control software version used Figure 5-14 Robot Configurator - Info 5.4.3 Creating configuration files The configuration (control project) is created in the "Drive topology (Page 43)" operating area. You can only generate the configuration if it is complete and consistent.
  • Page 48 Commissioning 5.4 Robot configurator Procedure 1. Open the "Topology" operating area in the robot configurator. 2. Press the button "Create". The CMC script ("*.usz") and the "RobotInstallation" folder with the following files and subfolders are created: SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 49 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.

  • Page 50: Cmc Script

    Carry out the steps described below. Non-observance can cause personal injury as well as material damage. The manual steps after installation are described separately for robots with Siemens motors and robots with third-party motors. Depending on the type of robot, carry out the steps described in the corresponding section.

  • Page 51: Manual Steps After Installation For Third-Party Motors

    Commissioning 5.6 Manual steps after installation 5.6.1 Manual steps after installation for third-party motors After installation, you must manually perform the following steps: 1. Load the system-specific PLC blocks. 2. Start up the infeed SLM. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 52 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. The drive macro also sets the controller data described in section Controller data (Page 61) for each robot axis.
  • Page 53 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 5-16 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 54 Commissioning 5.6 Manual steps after installation 4. Activate at least the following Safety functions provided by SINUMERIK Safety Integrated plus: – SS1/STO (emergency stop) – Axial SLS Note You will find the maximum delay time for SS1/STOP B (p9556) for axes 1-3 in the data sheets of each type of robot (Chapter "Braking times and stopping distances").
  • Page 55 Commissioning 5.6 Manual steps after installation 6. Check the current controller 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 56 Commissioning 5.6 Manual steps after installation – In the "Measurement parameters" screen form, make the following settings: → Offset = 0 rpm → Amplitude = 1% Figure 5-19 Measurement parameters – Using the vertical "Measure" softkey to open the "Measurement" screen form. Start the measurement from this screen form.
  • Page 57 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 5-20 Frequency response p1715, optimum SINUMERIK Run MyRobot /Direct Control...
  • Page 58 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 5-21 Frequency response p1715, too high Figure 5-22...

  • Page 59: Manual Steps After Installation For Siemens Motors

    10.Select a suitable controller data set (DDS) for your application via the PLC interface and, if necessary, optimize the vibration behavior of the robot (see Chapter Controller data (Page 61)). References • SINUMERIK 840D sl Safety Integrated plus Commissioning Manual • Technical specification of the robot manufacturer 5.6.2 Manual steps after installation for Siemens motors After installation, you must manually perform the following steps: 1.
  • Page 60 Commissioning 5.6 Manual steps after installation 4. Activate at least the following Safety functions provided by SINUMERIK Safety Integrated plus: – SS1/STO (emergency stop) – Axial SLS Note You will find the maximum delay time for SS1/STOP B (p9556) for axes 1-3 in the data sheets of each type of robot (Chapter "Braking times and stopping distances").

  • Page 61: Controller Data

    7. Select a suitable controller data set (DDS) for your application via the PLC interface and, if necessary, optimize the vibration behavior of the robot (see Chapter Controller data (Page 61)). References • SINUMERIK 840D sl Safety Integrated plus Commissioning Manual Controller data 5.7.1 Controller data - default setting During commissioning of a robot, the controller data (speed and position controller, feedforward control and interpolation) are set in addition to all relevant axis and motor data.

  • Page 62: Selection Of The Data Set

    "Auto-Servo-Tuning" function. References Function Manual Sinumerik 840D sl Basic Functions, Chapter Switching over motor/drive data sets SINUMERIK Run MyRobot /Direct Control...

  • Page 63: Parameterization Of The Jerk Limit And The Jerk Filter

    Commissioning 5.7 Controller data 5.7.3 Parameterization of the jerk limit and the jerk filter Independent of the controller data sets in the drive, there is a further optimization option for the robot axis using the following parameters: • 32431 MAX_AX_JERK: Axial jerk limit. Maximum jerk value for building up acceleration. An increase of the jerk limit improves the productivity of the plant.

  • Page 64: Auto Servo Tuning (Ast) For The Robot Axes

    5.7.4 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 65: Interpolating Special Axes

    Commissioning 5.7 Controller data 5.7.5 Interpolating special axes For the robot-specific default controller setting, it is intended that all of the robot axes correctly interpolate with one another. In the event of one or more with interpolating special axes (e.g. linear axis, rotary tilting table), you must ensure the correct interpolation behavior during their parameterization.

  • Page 66: Sample Plc Application

    For a quick and uncomplicated start, you can download a PLC application example from the SIOS portal under SINUMERIK Run MyRobot /Direct Control - PLC (https:// support.industry.siemens.com/cs/document/109758486). The most important blocks are included and pre-parameterized in this example. References Further information regarding PLC programming is provided in the Commissioning Manual SINUMERIK 840D sl.

  • Page 67: Data Protection Concept

    Data protection concept Warranty claim For the robot manufacturer's warranty to be valid, you must operate the machine only within specified parameters (e.g. maximum speed or maximum torque of the gearbox, etc.). The warranty period depends on the robot manufacturer. The data protection concept therefore prescribes that you cannot change some of the NC machine data and drive parameters.
  • Page 68 Data protection concept 6.3 CMC script • Copying the file CYCPE_MA.spf with the call of the ROPE_MAIN.cpf cycle in the "Manufacturer cycles" folder. Ensure that the cycle ROPE_MAIN.cpf is loaded when the controller (prog event) is run up. The corresponding machine data and the associated option bit are also set by the CMC script.

  • Page 69: Machine Data

    Machine data Overview The following machine data is set by the CMC script (see Section NC machine data (Page 69)) or by the drive macro (see Section Drive machine data (Page 91)). The following distinction is made for machine data: •...
  • Page 70 Machine data 7.2 NC machine data Machine data Value Comment 　 　 N10000 $MN_AXCONF_MACHAX_NAME_TAB[5+x] Default assignment with RA6_x 　 　 　 　 N10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP 　 　 　 　 N10050 $MN_SYSCLOCK_CYCLE_TIME 　 　 　 N10070 $MN_IPO_SYSCLOCK_TIME_RATIO 　 　 　 　 N10240 $MN_SCALING_SYSTEM_IS_METRIC 　...
  • Page 71 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N14510 $MN_USER_DATA_INT[2] 　 　 　 N14510 $MN_USER_DATA_INT[3] 　 　 　 N14510 $MN_USER_DATA_INT[4] 　 　 　 N14510 $MN_USER_DATA_INT[5] 　 　 　 N14510 $MN_USER_DATA_INT[6] 　 　 　 N14510 $MN_USER_DATA_INT[7] 　...

  • Page 72: Channel-Specific Machine Data

    Machine data 7.2 NC machine data Machine data Value Comment 　 　 N19340 $ON_PROG_MASK 'H4' Option cross-mode actions 　 　 N19410 $ON_TRAFO_TYPE_MASK 'H10' Option OEM transformer 　 　 N19610 $ON_TECHNO_EXTENSION_MASK[1] 'H4' Option AXCO (optional) 　 　 N19610 $ON_TECHNO_EXTENSION_MASK[4] ='H200000' ;Option ROBX_AR 　...
  • Page 73 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] 　 　 　 N20060 $MC_AXCONF_GEOAX_NAME_TAB[0] "X" 　 　 　 N20060 $MC_AXCONF_GEOAX_NAME_TAB[1] "Y" 　 　 　 N20060 $MC_AXCONF_GEOAX_NAME_TAB[2] "Z" 　 　 　 N20070 $MC_AXCONF_MACHAX_USED[0] 　 　 　...
  • Page 74 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20112 $MC_START_MODE_MASK 'H470' 　 　 　 N20140 $MC_TRAFO_RESET_VALUE 　 　 　 N20150 $MC_GCODE_RESET_VALUES[0] 　 　 　 N20150 $MC_GCODE_RESET_VALUES[3] According to adjustment specification Advanced Sur‐ face 　 　 　...
  • Page 75 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20173 $MC_SURF_VELO_TOL According to adjustment specification Advanced Sur‐ face 　 　 　 　 N20193 $MC_PROG_EVENT_IGN_STOP 　 　 　 N20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS According to adjustment specification Advanced Sur‐ face 　...
  • Page 76 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20478 $MC_ORISON_MODE According to adjustment specification Advanced Sur‐ face 　 　 　 N20480 $MC_SMOOTHING_MODE According to adjustment specification Advanced Sur‐ face 　 　 　 N20482 $MC_COMPRESSOR_MODE According to adjustment specification Advanced Sur‐...
  • Page 77 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20486 $MC_COMPRESS_SPLINE_DEGREE[4] According to adjustment specification Advanced Sur‐ face 　 　 　 N20487 $MC_COMPRESS_SMOOTH_FACTOR_2[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N20487 $MC_COMPRESS_SMOOTH_FACTOR_2[1] According to adjustment specification Advanced Sur‐...
  • Page 78 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20600 $MC_MAX_PATH_JERK[3] According to adjustment specification Advanced Sur‐ face 　 　 　 N20600 $MC_MAX_PATH_JERK[4] According to adjustment specification Advanced Sur‐ face 　 　 　 N20602 $MC_CURV_EFFECT_ON_PATH_ACCEL[0] According to adjustment specification Advanced Sur‐...
  • Page 79 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N20605 $MC_PREPDYN_SMOOTHING_FACTOR[0] According to adjustment specification Advanced Sur‐ face 　 　 　 N20605 $MC_PREPDYN_SMOOTHING_FACTOR[1] According to adjustment specification Advanced Sur‐ face 　 　 　 N20605 $MC_PREPDYN_SMOOTHING_FACTOR[2] According to adjustment specification Advanced Sur‐...
  • Page 80 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N21155 $MC_JOG_VELO_ORI[1] 　 　 　 N21155 $MC_JOG_VELO_ORI[2] 　 　 　 N21158 $MC_JOG_JERK_ORI[0] 　 　 　 N21158 $MC_JOG_JERK_ORI[1] 　 　 　 N21158 $MC_JOG_JERK_ORI[2] 　 　 　 N21159 $MC_JOG_JERK_ORI_ENABLE[0] 　...
  • Page 81 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N21170 $MC_ACCEL_ORI[1] 　 　 　 N21170 $MC_ACCEL_ORI[2] 　 　 　 N22430 $MC_FGROUP_PATH_MODE According to adjustment specification Advanced Sur‐ face 　 　 　 N22440 $MC_FGROUP_PATH_RATIO According to adjustment specification Advanced Sur‐...
  • Page 82 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N28060 $MC_MM_IPO_BUFFER_SIZE According to adjustment specification Advanced Sur‐ face 　 　 　 N28070 $MC_MM_NUM_BLOCKS_IN_PREP According to adjustment specification Advanced Sur‐ face 　 　 　 N28071 $MC_MM_NUM_SURF_LEVELS According to adjustment specification Advanced Sur‐...
  • Page 83 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N28610 $MC_MM_PREPDYN_BLOCKS According to adjustment specification Advanced Sur‐ face 　 　 　 N29000 $OC_LOOKAH_NUM_CHECKED_BLOCKS According to adjustment specification Advanced Sur‐ face 　 　 　 N52020 $MCS_ORIAXES_EULER_ANGLE_NAME 　 　...
  • Page 84 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N62931 $MC_ROBX_VELORI[2] 　 　 　 N62932 $MC_ROBX_ACCORI[0] 　 　 　 N62932 $MC_ROBX_ACCORI[1] 　 　 　 N62932 $MC_ROBX_ACCORI[2] 　 　 　 N62934 $MC_ROBX_DYN_LIM_REDUCE 　 　 　 N62935 $MC_ROBX_VEL_FILTER_TIME 0.024 　...
  • Page 85 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N62907 $MC_ROBX_MAIN_LENGTH_AB[1] 　 　 　 N62908 $MC_ROBX_TX3P3_POS[0] 　 　 　 N62908 $MC_ROBX_TX3P3_POS[1] 　 　 　 N62908 $MC_ROBX_TX3P3_POS[2] 　 　 　 N62909 $MC_ROBX_TX3P3_RPY[0] 　 　 　 N62909 $MC_ROBX_TX3P3_RPY[1] 　...
  • Page 86 Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 　 N62915 $MC_ROBX_DHPAR4_5D[0] 　 　 　 　 N62915 $MC_ROBX_DHPAR4_5D[1] 　 　 　 　 N62916 $MC_ROBX_DHPAR4_5ALPHA[0] 　 　 　 　 N62916 $MC_ROBX_DHPAR4_5ALPHA[1] 　 　 　 　 N62917 $MC_ROBX_MAMES[0] 　...

  • Page 87: Channel-Specific Setting Data

    Machine data 7.2 NC machine data Machine data Value Comment 　 　 N62652 $MC_CC_AXCO_NUMERATOR[4] Optional 　 　 　 N62653 $MC_CC_AXCO_ACTIVE[3] Optional 　 　 　 N62653 $MC_CC_AXCO_ACTIVE[4] Optional 　 　 　 N62659 $MC_CC_AXCO_COUPLED_AXIS_2[3] Optional 　 N62660 $MC_CC_AXCO_DENOMINATOR_2[3] Optional 　 　 N62661 $MC_CC_AXCO_NUMERATOR_2[3] Optional 　...

  • Page 88: Axis-Specific Machine Data

    Machine data 7.2 NC machine data Machine data Value Comment 　 　 　 N42500 $SC_SD_MAX_PATH_ACCEL According to adjustment specification Advanced Sur‐ face 　 　 　 N42502 $SC_IS_SD_MAX_PATH_ACCEL According to adjustment specification Advanced Sur‐ face 　 　 　 N42510 $SC_SD_MAX_PATH_JERK According to adjustment specification Advanced Sur‐...
  • Page 89 Machine data 7.2 NC machine data Machine data Value Comment 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] N31060 $MA_DRIVE_AX_RATIO_NUMERA[1] N31060 $MA_DRIVE_AX_RATIO_NUMERA[2] N31060 $MA_DRIVE_AX_RATIO_NUMERA[3] N32200 $MA_POSCTRL_GAIN N32000 $MA_MAX_AX_VELO N32010 $MA_JOG_VELO_RAPID N32020 $MA_JOG_VELO N32060 $MA_POS_AX_VELO = $MA_MAX_AX_VELO N32100 $MA_AX_MOTION_DIR N32300 $MA_MAX_AX_ACCEL[0] N32300 $MA_MAX_AX_ACCEL[1] N32300 $MA_MAX_AX_ACCEL[2]...
  • Page 90 Machine data 7.2 NC machine data Machine data Value Comment N32432 $MA_PATH_TRANS_JERK_LIM[1] N32432 $MA_PATH_TRANS_JERK_LIM[2] N32432 $MA_PATH_TRANS_JERK_LIM[3] N32432 $MA_PATH_TRANS_JERK_LIM[4] N32434 $MA_G00_ACCEL_FACTOR According to adjustment specification Advanced Sur‐ face N32435 $MA_G00_JERK_FACTOR According to adjustment specification Advanced Sur‐ face N32620 $MA_FFW_MODE N32630 $MA_FFW_ACTIVATION_MODE N32640 $MA_STIFFNESS_CONTROL_ENABLE N32650 $MA_AX_INERTIA N32800 $MA_EQUIV_CURRCTRL_TIME...

  • Page 91: 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 data sets Third-party motor commis‐ sioning p304[0] Rated voltage Third-party motor commis‐...
  • Page 92 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 93 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 r1526 active upper torque limit r1527 active lower torque limit p1551 BI: Variable torque limit r899.5...
  • Page 94 Machine data 7.3 Drive machine data Machine data Value Comment p1659[0] Current setpoint filter 1 denominator damping p1659[1] Current setpoint filter 1 denominator damping p1660[0] Current setpoint filter 1 counter natural frequency p1660[1] Current setpoint filter 1 counter natural frequency p1661[0] Current setpoint filter 1 numerator damping p1661[1] Current setpoint filter 1 numerator damping p1662[0] Current setpoint filter 2 type...
  • Page 95 Machine data 7.3 Drive machine data Machine data Value Comment p1446[0] Actual speed value filter type p1446[1] Actual speed value filter type p1447[0] Actual speed value filter denominator natural fre‐ quency p1447[1] Actual speed value filter denominator natural fre‐ quency p1448[0] Actual speed value filter denominator damping p1448[1] Actual speed value filter denominator damping p1449[0] Actual speed value filter counter natural frequency...
  • Page 96 Machine data 7.3 Drive machine data Machine data Value Comment p1428[0] Speed pre-control balancing dead time p1428[1] Speed pre-control balancing dead time p1429[0] Speed pre-control balancing time constant p1429[1] Speed pre-control balancing time constant SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 97: Alarm, Fault And System Events

    Alarm, fault and system events CC ROPE The ROPE compile cycle generates the following alarms. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...
  • Page 98 Alarm, fault and system events 8.1 CC ROPE 75040 channel 1%, CCROPE, error ID 1: %3, error ID 2: %4 Reason: • Error ID 1: -2, error ID 2: -2: – An internal error occurred while executing CCROPE. • Error ID 1: -3, error ID 2: -3 –...
  • Page 99 Alarm, fault and system events 8.1 CC ROPE 75040 channel 1%, CCROPE, error ID 1: %3, error ID 2: %4 – At least 1 robot DO has not been started up • Error ID 1: 8, error ID 2: 1 –...
  • Page 100 Remedy: • Error ID 1: -2, error ID 2: -2: – Perform a Power On. – Contact the Siemens service team. • Error ID 1: -3, error ID 2: -3: – Perform a Power On. – Contact the Siemens service team.

  • Page 101: Robx_Ar

    ResetClear alarm Remedy: • Perform a Power On. • Contact the Siemens service team. 75042 ROPE is preventing enabling of the axis Reason: ROPE is preventing enabling of the axis as there was no configuration follow‐ ing run-up. Case 1: The alarm is displayed during processing of the ASUB ROPE_MAIN (self- clearing after the end of the ASUB).
  • Page 102 Alarm, fault and system events 8.2 ROBX_AR 75332 ROBX_AR: Compile cycle CCROPE is not active in the channel Reason: The CCROPE compile cycle is not active in the current channel. Response: PowerOn alarm Remedy: Activate the compile cycle CCROPE in the same channel as ROBX_AR. SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

  • Page 103: 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. Archive import SinuTrain When you create a commissioning archive for importing into SinuTrain, ensure that you also back up the "compile cycles".

  • Page 104: Digital Twin - Nx Model Machines

    9.4 Digital twin - NX model machines Digital twin - NX model machines If you use model robots from the Siemens PLM download portal, please note the following: From the base point MD62912 $MC_ROBX_TIRORO_POS to the flange coordinate system MD62910 $MC_ROBX_TFLWP_POS, the ROBX transformation machine data on the controller should not deviate from the supplied standard installed by the CMC package.

  • Page 105: 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 106 (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 107 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 108 Service & Support SINUMERIK Run MyRobot /Direct Control Commissioning Manual, 07/2020, A5E45238414B AD...

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