Siemens SINUMERIK 840D sl Commissioning Manual 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. 2 DDS are created for each axis so that the pre-calculated controller data are not
overwritten during optimization with AST (see section Auto Servo Tuning (AST) for the robot
axes (Page 64)). The drive macro thus replaces the third-party motor commissioning via
SINUMERIK Operate. The macro is copied via the CMC script into the CF card path of the NCU /
card/oem/sinamics/data/pmacros/003/p15 or of the NX /card/oem/sinamics/data/
pmacros/004/p15. The following execution authorizations are automatically set (in the
properties of the file).
Figure 5-15
Two drive macros are copied to the CF card per robot. In this way, depending on the DQ
topology, you can put the 6 Sinamics drives on the NCU or on the NX into operation. For an
installation of 3 robots, 6 macros are copied to the CF card, 3 in the NX path and 3 in the NCU
path.
The naming of the drive macros is as follows:
Note
Only start one drive macro per robot!
Starting the drive macro
Proceed as follows to start the drive macro pm000910.acx:
– Set parameter p9 of the Control Unit to "1".
52
Properties of the file
Robots
1st robot
2nd robot
3rd robot
NCU
pm000910.acx
pm000920.acx
pm000930.acx
Commissioning Manual, 07/2020, A5E45238414B AD
NX
pm000911.acx
pm000921.acx
pm000931.acx
SINUMERIK Run MyRobot /Direct Control