Table Of Contents - Siemens SINUMERIK 840D sl Commissioning Manual

Table of contents

Preface .........................................................................................................................................................3
1 Fundamental safety instructions...................................................................................................................7
1.1 General safety instructions.......................................................................................................7
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................11
1.3 Warranty and liability for application examples ......................................................................12
1.4 Industrial security ...................................................................................................................13
1.5 Residual risks of power drive systems ...................................................................................15
2 Introduction.................................................................................................................................................17
2.1 Configuration and commissioning of 6-axis robots ................................................................17
2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ..........18
2.3 System overview of SINUMERIK 840D sl with 6-axis robot...................................................19
2.4 Procedure when engineering and commissioning .................................................................20
3 Requirements for commissioning ...............................................................................................................21
4 Configuring .................................................................................................................................................23
4.1 Configuration with SIZER.......................................................................................................23
4.2 Configuration of a SIZER project ...........................................................................................24
4.3 Special designs ......................................................................................................................28
5 Commissioning ..........................................................................................................................................29
5.1 General procedure .................................................................................................................29
5.2 Requirements.........................................................................................................................30
5.3 Generating the user-specified topology in Create MyConfig Topo ........................................31
5.4 Robot configurator..................................................................................................................35
5.4.1 Overview ................................................................................................................................35
5.4.2 Robot configurator .................................................................................................................35
5.5 CMC script .............................................................................................................................41
5.6 Manual steps after installation................................................................................................42
5.7 Calculating controller data......................................................................................................53
5.7.1 Controller data - default setting ..............................................................................................53
5.7.2 Auto Servo Tuning (AST) for the robot axes ..........................................................................53
5.7.3 Interpolating special axes.......................................................................................................54
5.8 Sample PLC application.........................................................................................................55
6 Data protection concept..............................................................................................................................57
6.1 Warranty claim .......................................................................................................................57
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
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