Controller Data; Controller Data - Default Setting - Siemens SINUMERIK 840D sl Commissioning Manual

5. Set the adjustment/calibration values for all of the robot axes. The calibration position of
each robot axis is also part of the technical specification of each robot type. Move the RA1-
RA6 robot axes to the calibration position and check this visually or use the calibration tool
offered by the manufacturer for your robot type. To ensure that the actual values to be set in
the adjustment position are correct, the machine data $MA_REFP_SET_POS is preset for each
robot axis by the CMC script, depending on the type of robot.
Procedure for setting the adjustment values of the robot axes:
In the following example, the calibration values of the 1st axis are set.
a) Using the calibration tool, move the 1st machine axis in JOG mode to the adjustment
position.
b) Set the override on the machine control panel to 0%.
c) Switch to JOG-REF mode (Machine → JOG-REF).
d) Open the "axis machine data" input screen via Commissioning → Machine data → Axis
machine data.
e) Set the machine data 34210 $MA_ENC_REFP_STATE[0] = 1 in the 1st axis and the position
measurement system used.
f) Switch back to JOG-REF mode (Machine → JOG-REF).
g) Select the 1st machine axis on the machine control panel.
h) Press the "+" directional movement button on the machine control panel.
i) On the 1st machine axis, the icon
Repeat steps a - i for all other axes.
6. In case of need, activate further Safety functions provided by SINUMERIK Safety Integrated
plus. Carry out the commissioning of Cartesian Safety as needed.
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
5.7

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. The
controller parameters used are robot and axis-specific and selected in such a way that the
following constraints must be observed:
• The control loops are stable in the entire working area of the robot.
• The control loops are stable for any payloads and additional loads within the scope of the
technical specification of the respective robot type.
However, the "character" of the axis can be influenced via the parameterization of the controller.
If a rather "stiff" parameterization of the controller is applied, faults on the axis (e.g. process
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
axis referenced is displayed.
Commissioning
5.7 Controller data
61