Siemens SINUMERIK Series Parts list manual

SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyCC /ROCO
Function Manual
Valid for
Control
SINUMERIK 840D sl
Software version
NCU system software for 840D sl 4.8 SP2 HF1
09/2018
A5E45818879B AA
Preface 1
Fundamental safety
instructions 2
Introduction 3
Requirements relating to
commissioning 4
Commissioning 5
Adapting the machine model 6
Functions 7
Application examples 8
Machine data 9
Alarms 10
Extended diagnostics 11
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
A5E45818879B AA
Ⓟ 10/2018 Subject to change
Copyright © Siemens AG 2018.
All rights reserved

Table of contents
1 Preface.........................................................................................................................................................5
2Fundamental safety instructions...................................................................................................................7
2.1 General safety instructions.......................................................................................................7
2.2 Equipment damage due to electric fields or electrostatic discharge......................................10
2.3 Warranty and liability for application examples......................................................................10
2.4 Industrial security...................................................................................................................11
2.5 Residual risks of power drive systems...................................................................................12
3 Introduction.................................................................................................................................................15
4 Requirements relating to commissioning....................................................................................................17
4.1 Hardware and software requirements....................................................................................17
4.2 Functional secondary conditions............................................................................................18
4.3 CC_ROCO configuration file..................................................................................................18
4.3.1 Overview................................................................................................................................18
4.3.2 The robot manufacturer's data is known (Run MyRobot /Direct Control)...............................18
4.3.3 The robot manufacturer's data is known (SINUMERIK/SINAMICS with ROBX)....................19
5 Commissioning...........................................................................................................................................21
6 Adapting the machine model......................................................................................................................23
6.1 Overview................................................................................................................................23
6.2 Flange coordinate system......................................................................................................23
6.3 Parameterization of the tool properties..................................................................................24
6.4 Parameter assignment of the additional mass at the robot....................................................26
7 Functions....................................................................................................................................................29
7.1 Function CC_ROCO...............................................................................................................29
7.2 Function CC_ROCOREAD.....................................................................................................30
7.3 Function CC_ROCOREREAD................................................................................................31
7.4 Function CC_ROCOSETAL...................................................................................................32
8 Application examples..................................................................................................................................35
8.1 Compensation of external disturbing forces...........................................................................35
8.1.1 Overview................................................................................................................................35
8.1.2 Singular positions...................................................................................................................35
8.1.3 Compensation of the force due to weight...............................................................................38
8.1.4 Compensation of an external force........................................................................................40
8.2 Torque precontrol...................................................................................................................43
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8.3 3D-NOCO...............................................................................................................................44
8.4 Dynamic response adaptation................................................................................................44
9 Machine data..............................................................................................................................................45
9.1 General machine data............................................................................................................45
9.2 Channel-specific machine data..............................................................................................45
9.3 Axial machine data.................................................................................................................48
10 Alarms........................................................................................................................................................51
11 Extended diagnostics.................................................................................................................................55
11.1 Switching off ROCO...............................................................................................................55
11.2 Value for compensation and inertia matrix.............................................................................55
11.3 Diagnostics of the memory management...............................................................................55
A Service & Support.......................................................................................................................................57
Index...........................................................................................................................................................61
Table of contents
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Preface 1
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 addresses project engineers, technologists (of the machine manufacturers),
commissioning engineers (for systems/machines), programmers.
Benefits
The function manual describes the functions so that the target group knows them and can
select them. It provides the target group with the information required to implement the
functions.
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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Fundamental safety instructions 2
2.1 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
2.1 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
2.1 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.
2.2 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).
2.3 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
2.3 Warranty and liability for application examples
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2.4 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
2.4 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.
2.5 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
Fundamental safety instructions
2.5 Residual risks of power drive systems
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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
2.5 Residual risks of power drive systems
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Fundamental safety instructions
2.5 Residual risks of power drive systems
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Introduction 3
SINUMERIK Run MyCC /ROCO is a mechatronic extension function for 6-axis robots for
operation with SINUMERIK 840D sl. With SINUMERIK Run MyCC /ROCO you can increase
the positioning and machining path accuracy as well as the axis dynamics in the entire working
area of the robot.
CC_ROCO is based on a configuration and/or model file. This file includes the physical
attributes of the robot mechanical system (e.g. mass, moment of inertia, center of gravity,
elasticities and drive train). The following functions are implemented using these robot-type
specific model data.
Functions
Function Effect
Torque precontrol Reduction of the position and velocity-dependent
following error:
● Increased machining path accuracy
● Improved positioning behavior
3D nodding compensation Compensation of acceleration processes in the re‐
spective robot axis and across axes (over-cou‐
pling):
● Increased machining path accuracy
Compensation of external forces (e.g. gravitational
or process forces)
Gravitational force:
● Increased absolute precision
● Increased absolute path accuracy
Process force:
Reduction of the displacement of the robot TCP
● Increased path accuracy
Dynamic adaptation of acceleration and jerk in for‐
ward motion by utilizing the maximum axis torque
Utilization of the max. axis torques
● Shorter machining time
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Introduction
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Requirements relating to commissioning 4
4.1 Hardware and software requirements
Hardware
Table 4-1 Hardware components
Component Number Article number Comment
SINUMERIK NCU 730.3 PN 1 See catalog or Mall
Software
Table 4-2 Software components
Component Number Order number Comment
CNC software
Software version 4.8 SP2
1 See catalog or Mall
SINUMERIK Run MyCC /ROCO -
Accuracy
1 6FC5800-0AN83-0YB0
SINUMERIK Run MyCC /ROCO -
Productivity
1 6FC5800-0AN84-0YB0
ROCO configuration file 1 n.a. Depending on the robot
type - generated by Me‐
chatronic Support
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4.2 Functional secondary conditions
Note the following secondary conditions when using SINUMERIK Run MyCC /ROCO:
● SINUMERIK Run MyCC /ROCO can only be operated with a single channel. This does not
have to be the 1st channel.
● SINUMERIK Run MyCC /ROCO can be used in combination with the following SINUMERIK
Run MyRobot products:
ROCO function RMR /Direct
Control or
/SINAMICS
(ROBX)
RMR /Machining RMR /Handling RMR /Easy Con‐
nect
Torque precontrol Yes No No No
3D-NOCO Yes No No No
Compensation of an
external force
Yes No No No
Dynamic response
adaptation
Yes No No No
● Please observe the following dependencies regarding the setting of the IPO clock cycle:
Active function ROCO-FFW + 3D-NOCO + Ext. force + Dynamic re‐
sponse adapta‐
tion
ROBX + AXCO 4 ms 4 ms 4 ms 4 ms
ROBX + AXCO +
UCI (ISIOS)
8 ms 8 ms 8 ms 8 ms
4.3 CC_ROCO configuration file
4.3.1 Overview
Before SINUMERIK Run MyCC /ROCO is commissioned, the configuration file
"ROCO<n>_CH<c>.DAT" (e.g. "ROCO1_CH1.DAT" for installation in the first channel) must
be created. Only SIEMENS can generate the configuration file. The workflow when generating
the file depends on the data provided by the robot manufacturer. The two possible workflows
are described in the following.
4.3.2 The robot manufacturer's data is known (Run MyRobot /Direct Control)
The data required for the configuration file for the specific robot type was defined in advance
between the robot manufacturer and Siemens. In this case, SIEMENS can provide the
configuration file. No further measures are required.
Contact your SIEMENS customer representative to find out which robot types from the robot
portfolio of the respective robot manufacturer are supported.
Requirements relating to commissioning
4.3 CC_ROCO configuration file
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Robot manufacturer
● Comau
Delivery
Siemens provides you with the configuration file "ROCO<n>_CH<c>.DAT" for the particular
robot type. You can start commissioning immediately.
4.3.3 The robot manufacturer's data is known (SINUMERIK/SINAMICS with ROBX)
The data required for the configuration file for the specific robot type was not defined in advance
between the robot manufacturer and Siemens. The robot manufacturer provides you with the
necessary data.
SIEMENS will provide you with the "ROCO_Template.xlsx" file to preprocess the data. Based
on the completed templates, SIEMENS Mechatronic Support generates the configuration file.
You must issue an order to SIEMENS Mechatronic Support for them to execute this.
Procedure
1. SIEMENS will provide you with the "ROCO_Template.xlsx" file.
2. Enter the required data.
3. Send the completed file to SIEMENS Mechatronic Support. SIEMENS Mechatronic Support
analyzes the data, and generates the "ROCO<n>_CH<c>.DAT" configuration file. You must
issue an order to SIEMENS Mechatronic Support for them to execute this.
4. Siemens provides you with the configuration file "ROCO<n>_CH<c>.DAT" for the particular
robot type. You can start to commission the system.
Requirements relating to commissioning
4.3 CC_ROCO configuration file
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Requirements relating to commissioning
4.3 CC_ROCO configuration file
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