Siemens SINUMERIK 840D sl Quick start guide

SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyRobot /Direct
Control
Commissioning Manual
Valid for
control system
SINUMERIK 840D sl
Software version
NCU system software for 840D sl 4.8 SP6
07/2020
A5E45238414B AD
Preface
Fundamental safety
instructions 1
Introduction 2
Requirements for
commissioning 3
Con󹪝guring 4
Commissioning 5
Data protection concept 6
Machine data 7
Alarm, fault and system
events 8
Troubleshooting/FAQs 9
Service & Support A

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage
to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices
referring only to property damage have no safety alert symbol. These notices shown below are graded according to
the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Quali󹪝ed Personnel
The product/system described in this documentation may be operated only by personnel quali󹪝ed for the speci󹪝c
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Quali󹪝ed personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identi󹪝ed by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may
be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E45238414B AD
Ⓟ 08/2020 Subject to change
Copyright © Siemens AG 2020.
All rights reserved

Preface
SINUMERIK documentation
The SINUMERIK documentation is organized into the following categories:
• General documentation/catalogs
• User documentation
• Manufacturer/service documentation
Additional information
You can 󹪝nd information on the following topics at the following address (https://
support.industry.siemens.com/cs/de/en/view/108464614):
• Ordering documentation/overview of documentation
• Additional links to download documents
• Using documentation online (󹪝nd and search in manuals/information)
If you have any questions regarding the technical documentation (e.g. suggestions,
corrections), please send an e-mail to the following address
(mailto:docu.mo[email protected]).
mySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can 󹪝nd information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can 󹪝nd information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can 󹪝nd Frequently Asked Questions in the Service&Support pages under Product Support
(https://support.industry.siemens.com/cs/de/en/ps/faq).
SINUMERIK
You can 󹪝nd information about SINUMERIK at the following address (http://www.siemens.com/
sinumerik).
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Target group
This documentation is intended for commissioning personnel.
Note
Requirements
The following knowledge and skills are required:
• TIA Portal V15
• Commissioning of SINUMERIK and SINAMICS
Bene󹪝ts
The intended target group can use the commissioning manual to test and commission the
product, system or the plant correctly and safely.
Standard scope
This documentation only describes the functionality of the standard version. Additions or
revisions made by the machine manufacturer are documented by the machine manufacturer.
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or when
servicing.
For the sake of simplicity, this documentation does not contain all detailed information about all
types of the product and cannot cover every conceivable case of installation, operation, or
maintenance.
Note regarding the General Data Protection Regulation
Siemens observes standard data protection principles, in particular the principle of privacy by
design. That means that
this product does not process / store any personal data, only technical functional data (e.g. time
stamps). If a user links this data with other data (e.g. a shift schedule) or stores personal data on
the same storage medium (e.g. hard drive) and thus establishes a link to a person or persons,
then the user is responsible for ensuring compliance with the relevant data protection
regulations.
Technical Support
Country-speci󹪝c telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Preface
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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions........................................................................................................... 7
1.1 General safety instructions................................................................................................... 7
1.2 Equipment damage due to electric 󹪝elds or electrostatic discharge ..................................... 11
1.3 Warranty and liability for application examples ................................................................... 11
1.4 Security information .......................................................................................................... 11
1.5 Residual risks of power drive systems ................................................................................. 13
2 Introduction ......................................................................................................................................... 15
2.1 Con󹪝guration and commissioning of 6-axis robots.............................................................. 15
2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ............. 15
2.3 System overview of SINUMERIK 840D sl with 6-axis robot ................................................... 16
2.4 Procedure when engineering and commissioning............................................................... 16
3 Requirements for commissioning........................................................................................................ 19
4Con󹪝guring .......................................................................................................................................... 21
4.1 Con󹪝guration with SIZER.................................................................................................... 21
4.2 Con󹪝guration of a SIZER project ......................................................................................... 21
4.2.1 Con󹪝guration of a SIZER project for robots with third-party motors ..................................... 21
4.2.2 Con󹪝guration of a SIZER project for robots with Siemens motors......................................... 26
5 Commissioning ................................................................................................................................... 31
5.1 General procedure ............................................................................................................. 31
5.2 Requirements .................................................................................................................... 32
5.3 Generating the user-speci󹪝ed topology in Create MyCon󹪝g Topo......................................... 33
5.4 Robot con󹪝gurator ............................................................................................................. 36
5.4.1 Starting the robot con󹪝gurator........................................................................................... 36
5.4.2 Operating the robot con󹪝gurator........................................................................................ 37
5.4.2.1 Project management.......................................................................................................... 37
5.4.2.2 Project con󹪝guration.......................................................................................................... 39
5.4.2.3 Robot con󹪝guration ........................................................................................................... 41
5.4.2.4 Machine tool con󹪝guration ................................................................................................ 42
5.4.2.5 Drive topology ................................................................................................................... 43
5.4.2.6 Settings ............................................................................................................................. 45
5.4.2.7 Info ................................................................................................................................... 47
5.4.3 Creating con󹪝guration 󹪝les................................................................................................. 47
5.5 CMC script ......................................................................................................................... 50
5.6 Manual steps after installation ........................................................................................... 50
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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 󹪝lter............................................................. 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-speci󹪝c machine data ........................................................................................... 72
7.2.3 Channel-speci󹪝c setting data.............................................................................................. 87
7.2.4 Axis-speci󹪝c 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
Table of contents
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Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are quali󹪝ed for this job.
• Always observe the country-speci󹪝c safety rules.
Generally, the following steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be a󹪜ected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time speci󹪝ed on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any of
the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may carry
a hazardous voltage. Contact with hazardous voltage can result in severe injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective
Extra Low Voltage) output voltages for all connections and terminals of the electronics
modules.
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WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can result
in death or severe injury.
• Ensure compliance with the limit values speci󹪝ed in the technical data during transport,
storage and operation.
• Do not use any damaged devices.
WARNING
Electric shock due to unconnected cable shields
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the cores of cables that are not used at one end
at the grounded housing potential.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when touched,
can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.
NOTICE
Damage to equipment due to unsuitable tightening tools.
Unsuitable tightening tools or fastening methods can damage the screws of the equipment.
• Be sure to only use screwdrivers which exactly match the heads of the screws.
• Tighten the screws with the torque speci󹪝ed in the technical documentation.
• Use a torque wrench or a mechanical precision nut runner with a dynamic torque sensor and
speed limitation system.
Fundamental safety instructions
1.1 General safety instructions
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WARNING
Spread of 󹪝re from built-in devices
In the event of 󹪝re outbreak, the enclosures of built-in devices cannot prevent the escape of
󹪝re and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are protected
against 󹪝re and smoke, or take other appropriate measures to protect personnel.
• Ensure that smoke can only escape via controlled and monitored paths.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
Using radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
• Therefore, if you move closer than 20 cm to the components, be sure to switch o󹪜 radio
devices or mobile telephones.
• Use the "SIEMENS Industry Online Support app" only on equipment that has already been
switched o󹪜.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent 󹪝re
and smoke. This can cause severe injury or even death. This can also result in increased
downtime and reduced service lives for devices/systems.
• Ensure compliance with the speci󹪝ed minimum clearance as ventilation clearance for the
respective component.
NOTICE
Overheating due to inadmissible mounting position
The device may overheat and therefore be damaged if mounted in an inadmissible position.
• Only operate the device in admissible mounting positions.
Fundamental safety instructions
1.1 General safety instructions
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WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system, including
all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted and
activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the Safety
Integrated manuals.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency o󹪜.
Fundamental safety instructions
1.1 General safety instructions
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