Robot Configuration - Siemens SINUMERIK 840D sl Commissioning Manual

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
Selection of the installation channel of the robot
Note: In the "First commissioning" mode, the first robot is always installed in the 1st NC channel.
④
Selection of the mode group (BAG)
⑤
Assignment of the robot axes (channel axes) to the corresponding machine axes.
Note: If the default assignment is changed, you must adapt the topology project ("*.uptz").
⑥
Setting of the rotation sequence in orientation programming:
• RPY: Standard for robotics (A ⇓ Z, B ⇓ Y', C ⇓ X''), Z points out of the flange
• CARDAN: Standard for machine tools ((A ⇓ X, B ⇓ Y', C ⇓ Z''), Z points into the flange
⑦
Restore default values
⑧
Back to previous configuration step
⑨
Continue to next configuration step
Figure 5-10 Robot configurator - Configuring robot n
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
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