Siemens SINUMERIK 840D sl Owner's manual

SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyRobot /Direct
Control
Programming Manual
Valid for
Control
SINUMERIK 840D sl
Software version
NCU system software for 840D sl 4.8 SP3
12/2018
A5E45237742B AB
Preface
Fundamental safety
instructions 1
Introduction 2
Coordinate systems 3
Programming 4
Measuring cycles 5
Examples 6
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.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
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 identified 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
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E45237742B AB
Ⓟ 12/2018 Subject to change
Copyright © Siemens AG 2018.
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 find 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 (find 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:[email protected]).
mySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find 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 find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINUMERIK
You can find information about SINUMERIK at the following address (http://www.siemens.com/
sinumerik).
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Target group
This document is intended for:
● Programmers
● Project engineers
Benefits
With the programming manual, the target group can develop, write, test, and debug programs
and software user interfaces.
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-specific 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 fields or electrostatic discharge ......................................11
1.3 Warranty and liability for application examples ......................................................................12
1.4 Industrial security ...................................................................................................................13
1.5 Residual risks of power drive systems ...................................................................................15
2 Introduction.................................................................................................................................................17
2.1 Programming 6-axis robots ....................................................................................................17
2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control ..........18
3 Coordinate systems....................................................................................................................................19
3.1 Overview ................................................................................................................................19
3.2 Basic coordinate system ........................................................................................................21
3.3 Flange coordinate system ......................................................................................................23
3.3.1 Flange coordinate system ......................................................................................................23
3.3.2 Flange coordinate system for single part tools.......................................................................24
3.3.2.1 Single part tools according to the NC convention ..................................................................24
3.3.2.2 Single part tools according to the Robot convention..............................................................25
3.3.3 Flange coordinate systems for multipart tools........................................................................26
3.3.3.1 Multipart tools according to the NC convention......................................................................27
3.3.3.2 Multipart tools according to the Robot convention .................................................................28
4 Programming ..............................................................................................................................................31
4.1 Axial programming .................................................................................................................32
4.2 Cartesian programming with virtual rotary axis angles ..........................................................33
4.3 Orientation programming .......................................................................................................34
4.3.1 Overview ................................................................................................................................34
4.3.2 ORIMKS/ORIWKS .................................................................................................................34
4.3.3 ORIVIRT1...............................................................................................................................34
4.4 Cartesian PTP travel ..............................................................................................................38
4.4.1 Function .................................................................................................................................38
4.4.2 Activation................................................................................................................................38
4.5 Robot position STAT (status) .................................................................................................39
4.6 Axis angular position TU (turn)...............................................................................................44
5 Measuring cycles........................................................................................................................................45
5.1 Information about the measuring cycles ................................................................................45
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6 Examples....................................................................................................................................................47
6.1 Program example - programming commands........................................................................47
6.2 Program example - measuring cycles....................................................................................48
A Service & support .......................................................................................................................................51
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 qualified for this job.
● Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected 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 specified 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 that might result in serious 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 specified 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.
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire 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 fire and smoke, or take other appropriate measures to protect personnel.
● Ensure that smoke can only escape via controlled and monitored paths.
Fundamental safety instructions
1.1 General safety instructions
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WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
● If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
● Use the "SIEMENS Industry Online Support app" only on equipment that has already been
switched off.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent fire
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 specified minimum clearance as ventilation clearance for the
respective component.
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.
Fundamental safety instructions
1.1 General safety instructions
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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 (parameter assignments) against unauthorized access.
● Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
Fundamental safety instructions
1.1 General safety instructions
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1.2 Equipment damage due to electric fields or electrostatic discharge
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged individual
components, integrated circuits, modules or devices.
● Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of aluminum
foil.
● Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
● Only place electronic components, modules or devices on conductive surfaces (table with
ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge
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1.3 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are operated
correctly. Application examples do not relieve you of your responsibility for safe handling when
using, installing, operating and maintaining the equipment.
Fundamental safety instructions
1.3 Warranty and liability for application examples
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1.4 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the Internet if and to the extent such a connection is necessary and
only when appropriate security measures (e.g. firewalls and/or network segmentation) are in
place.
For additional information on industrial security measures that may be implemented, please
visit:
Industrial security (http://www.siemens.com/industrialsecurity)
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)
Fundamental safety instructions
1.4 Industrial security
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WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating
states in your system that may lead to death, serious injury, and property damage.
● Keep the software up to date.
● Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
● Make sure that you include all installed products into the holistic industrial security concept.
● Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
● Protect the drive against unauthorized changes by activating the "know-how protection"
drive function.
Fundamental safety instructions
1.4 Industrial security
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1.5 Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must
take into account the following residual risks emanating from the control and drive components
of a drive system:
1. Unintentional movements of driven machine or system components during commissioning,
operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk
to people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or
data communication via the network
For more information about the residual risks of the drive system components, see the relevant
sections in the technical user documentation.
Fundamental safety instructions
1.5 Residual risks of power drive systems
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Fundamental safety instructions
1.5 Residual risks of power drive systems
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Introduction 2
2.1 Programming 6-axis robots
This manual supports you when programming a 6-axis robot with a SINUMERIK 840D sl.
Specific know-how is required when it comes to programming 6-axis robots. This know-how is
summarized in this manual.
This manual does not discuss any general know-how regarding programming with SINUMERIK
840 sl. You can find additional notes relating to references in Chapter Overview of the manuals
for SINUMERIK 840D sl and Run MyRobot /Direct Control (Page 18).
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2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /
Direct Control
You can find additional information in the following manuals.
References
● Function description of the ROBX transformation (included in folder…/rmrdc/robx_ar/doc)
● Function description of AXCO (included in folder axco/doc)
● Programming Manual SINUMERIK 840D sl / 828D Fundamentals
● Programming Manual SINUMERIK 840D sl / 828D Job Planning
● Programming Manual SINUMERIK 840D sl / 828D Measuring Cycles
● Programming Manual SINUMERIK 840D sl / 828D ISO Milling
● Function Manual SINUMERIK 840D sl / 828D Expansion Functions
Introduction
2.2 Overview of the manuals for SINUMERIK 840D sl and Run MyRobot /Direct Control
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Coordinate systems 3
3.1 Overview
The term frame in the context of ROBX transformation will be explained in this chapter.
Frame
One coordinate system can be transitioned into another one using a frame. In so doing, a
distinction is made between translation and rotation. Whereas the translation causes only an
offset, the rotation turns the coordinate system with regard to the reference system. The X, Y
and Z coordinates are used to describe the translation. They are defined to produce a right-
hand coordinate system. In this case, the translation is performed prior to the rotation.
Translation
Translation always refers to the coordinate directions of the initial system. The directions are
assigned to machine data as follows:
● X direction: …_POS[0]
● Y direction: …_POS[1]
● Z direction: …_POS[2]
Rotation
The RPY angles A, B and C (RPY = Roll Pitch Yaw) are used for rotation. The positive direction
of rotation is defined using the right-hand rule. When the thumb on the right hand is pointing in
the direction of the axis of rotation, then the remaining fingers are pointing in the positive
angular direction. In this respect, please note that A and C are defined at intervals [-180; +180]
and B at intervals [-90; +90]. The RPY angles are specified as follows:
● Angle A: 1. Rotation around the Z axis of the initial system
● Angle B: 2. Rotation around the rotated Y' axis
● Angle C: 3. Rotation around the X'' axis that has been rotated twice
The RPY angles are assigned to machine data as follows:
● Angle A: ..._RPY[0]
● Angle B: ..._RPY[1]
● Angle C: ..._RPY[2]
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Example
The initial coordinate system X1, Y1, Z1 is rotated around the RPY angles as follows:
● Through angle A around the
Z
1 axis
● Through angle B around the Y
2' axis
● Through angle C around the X
3
'' axis
$ % & Z1
Y1
X1
Z'2
Y'2
X'2
X''3
Y''3
Z''3
Z4
Y4
X4
Figure 3-1 Example of rotation through the RPY angles
Coordinate systems
3.1 Overview
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