Siemens SINUMERIK 840D sl Commissioning Manual 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
5.7 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 ............................................................. 63
5.7.4 Auto Servo Tuning (AST) for the robot axes......................................................................... 64
5.7.5 Interpolating special axes................................................................................................... 65
5.8 Sample PLC application ...................................................................................................... 66
6 Data protection concept ...................................................................................................................... 67
6.1 Warranty claim................................................................................................................... 67
6.2 Principle of operation of ROPE compile cycle....................................................................... 67
6.3 CMC script ......................................................................................................................... 67
7 Machine data ....................................................................................................................................... 69
7.1 Overview ........................................................................................................................... 69
7.2 NC machine data ............................................................................................................... 69
7.2.1 General machine data ........................................................................................................ 69
7.2.2 Channel-specific machine data ........................................................................................... 72
7.2.3 Channel-specific setting data.............................................................................................. 87
7.2.4 Axis-specific machine data ................................................................................................. 88
7.3 Drive machine data ............................................................................................................ 91
7.3.1 Control Unit parameters..................................................................................................... 91
7.3.2 Drive parameters ............................................................................................................... 91
8 Alarm, fault and system events ........................................................................................................... 97
8.1 CC ROPE ............................................................................................................................ 97
8.2 ROBX_AR ......................................................................................................................... 101
9 Troubleshooting/FAQs........................................................................................................................ 103
9.1 Boundary conditions when creating an archive................................................................. 103
9.2 Archive import SinuTrain .................................................................................................. 103
9.3 Reading in a series commissioning archive ....................................................................... 103
9.4 Digital twin - NX model machines..................................................................................... 104
A Service & Support .............................................................................................................................. 105
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SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD