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
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB 5
