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Introduction Fundamental safety instructions SINUMERIK Coordinate systems SINUMERIK 840D sl SINUMERIK Run MyRobot /Direct Control Robot with special axes Programming Singularity station Measuring cycles Examples Service & support A Programming Manual Valid for control system SINUMERIK 840D sl Software NCU system software for 840D sl 01/2022 A5E45237742B AE version 4.95 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 Digital Industries Postfach 48 48 90026 NÜRNBERG GERMANY A5E45237742B AE Ⓟ 01/2022 Subject to change Copyright © Siemens AG 2020 - 2022 All rights reserved Table of contents Introduction 1.1 About SINUMERIK 1.2 About this document 1.3 1.3.1 1.3.2 Documentation on the Internet Documentation overview Run MyRobot /Direct Control Documentation overview SINUMERIK 840D sl 1.4 Feedback on the technical documentation 1.5 mySupport documentation 1.6 Service and Support 1.7 Important product information Fundamental safety instructions 11 2.1 General safety instructions 11 2.2 Equipment damage due to electric fields or electrostatic discharge 15 2.3 Warranty and liability for application examples 15 2.4 Security information 15 2.5 Residual risks of power drive systems 17 Coordinate systems 19 3.1 Overview 19 3.2 Basic coordinate system 20 3.3 3.3.1 3.3.2 3.3.2.1 3.3.2.2 3.3.3 3.3.3.1 3.3.3.2 Flange coordinate system 22 Flange coordinate system 22 Flange coordinate system for single part tools 23 Single part tools according to the NC convention 23 Single part tools according to the Robot convention 24 Flange coordinate systems for multipart tools 25 Multipart tools according to the NC convention 26 Multipart tools according to the Robot convention 27 Robot with special axes 29 4.1 Overview 29 4.2 Transformation machine data 30 4.3 Machine data for defining the traversing direction of the linear axis and the directions of rotation of the special axes of the rotary tilting table 31 4.4 Machine data for defining the alignment of the first internal robot coordinate system (IRO) with reference to the robot base point coordinate system (RO) 35 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Table of contents 4.5 Machine data for defining the distance from the world coordinate system (WO) to the basic coordinate system in the tilting rotary table 36 4.6 4.6.1 4.6.2 4.6.3 4.6.4 4.6.5 4.6.5.1 4.6.5.2 Programming examples 38 Overview 38 CP and PTP motions 38 Basic robot position without transformation 39 Machine zero point with active transformation 40 Programming of the redundant special axes with active robot transformation 41 Linear axis 41 Rotary tilting table 42 4.7 Summary 46 Programming 47 5.1 Axial programming 47 5.2 Cartesian programming with virtual rotary axis angles 48 5.3 5.3.1 5.3.2 5.3.3 Orientation programming 49 Overview 49 ORIMKS/ORIWKS 49 ORIVIRT1 49 5.4 5.4.1 5.4.2 Cartesian PTP travel 53 Function 53 Activation 53 5.5 Robot position STAT (status) 53 5.6 Axis angular position TU (turn) 58 5.7 Smoothing with G64x 59 Singularity station 61 6.1 Field of application 61 6.2 System requirements 61 6.3 Problem 61 6.4 Commissioning 63 6.5 Behavior in and in the vicinity of the singularity 64 6.6 Example: Traversing through the alpha5 singularity with a 6-axis robot 65 6.7 Constraints 66 Measuring cycles 67 7.1 A Information about the measuring cycles 67 Examples 69 8.1 Program example - programming commands 69 8.2 Program example - measuring cycles 70 Service & support 73 Index 77 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.1 About SINUMERIK From simple, standardized CNC machines to premium modular machine designs – the SINUMERIK CNCs offer the right solution for all machine concepts Whether for individual parts or mass production, simple or complex workpieces – SINUMERIK is the highly dynamic automation solution, integrated for all areas of production From prototype construction and tool design to mold making, all the way to large-scale series production Visit our website for more information SINUMERIK (https://www.siemens.com/sinumerik) 1.2 About this document Target group This document is intended for: • Programmers • Project engineers Purpose The manual supports you with programming a 6-axis robot with a SINUMERIK 840D sl Specific know-how is required when it comes to programming 6-axis robots This knowledge is compiled in this manual This manual does not discuss any general know-how regarding programming with SINUMERIK 840 sl You can find more extensive references in Section Documentation overview SINUMERIK 840D sl and Run MyRobot /Direct Control (Page 6) Benefits This Programming Manual enables the target groups to develop, write, and test programs and to correct errors Standard scope This documentation only describes the functionality of the standard version This may differ from the scope of the functionality of the system that is actually supplied Please refer to the ordering documentation only for the functionality of the supplied drive system It may be possible to execute other functions in the system which are not described in this documentation This does not, however, represent an obligation to supply such functions with a new control or when servicing SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.3 Documentation on the Internet For reasons of clarity, this documentation cannot include all of the detailed information on all product types Further, this documentation cannot take into consideration every conceivable type of installation, operation and service/maintenance The machine manufacturer must document any additions or modifications they make to the product themselves Websites of third-party companies This document may contain hyperlinks to third-party websites Siemens is not responsible for and shall not be liable for these websites and their content Siemens has no control over the information which appears on these websites and is not responsible for the content and information provided there The user bears the risk for their use 1.3 Documentation on the Internet 1.3.1 Documentation overview Run MyRobot /Direct Control More information can be found in the following manual: References • Function description ROBX transformation (contained in the folder /rmrdc/doc) 1.3.2 Documentation overview SINUMERIK 840D sl You will find extensive documentation on the functions of SINUMERIK 840D sl from version 4.8 SP4 at 840D sl documentation overview (https://support.industry.siemens.com/cs/ww/en/view/ 109766213) You can display documents or download them in PDF and HTML5 format SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.5 mySupport documentation The documentation is divided into the following categories: • User: Operating • User: Programming • Manufacturer/Service: Functions • Manufacturer/Service: Hardware • Manufacturer/Service: Configuration/Setup • Manufacturer/Service: Safety Integrated • Manufacturer/Service: SINUMERIK Integrate/MindApp • Information and training • Manufacturer/Service: SINAMICS 1.4 Feedback on the technical documentation If you have any questions, suggestions or corrections regarding the technical documentation which is published in the Siemens Industry Online Support, use the link "Send feedback" link which appears at the end of the entry 1.5 mySupport documentation With the "mySupport documentation" web-based system you can compile your own individual documentation based on Siemens content, and adapt it for your own machine documentation To start the application, click on the "My Documentation" tile on the mySupport homepage (https://support.industry.siemens.com/cs/ww/en/my): SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.6 Service and Support The configured manual can be exported in RTF, PDF or XML format Note Siemens content that supports the mySupport documentation application can be identified by the presence of the "Configure" link 1.6 Service and Support Product support You can find more information about products on the internet: Product support (https://support.industry.siemens.com/cs/ww/en/) The following is provided at this address: • Up-to-date product information (product announcements) • FAQs (frequently asked questions) • Manuals • Downloads • Newsletters with the latest information about your products • Global forum for information and best practice sharing between users and specialists • Local contact persons via our Contacts at Siemens database (→ "Contact") • Information about field services, repairs, spare parts, and much more (→ "Field Service") Technical support Country-specific telephone numbers for technical support are provided on the internet at address (https://support.industry.siemens.com/cs/ww/en/sc/4868) in the "Contact" area If you have any technical questions, please use the online form in the "Support Request" area Training You can find information on SITRAIN at the following address (https://www.siemens.com/ sitrain) SITRAIN offers training courses for automation and drives products, systems and solutions from Siemens SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.7 Important product information Siemens support on the go With the award-winning "Siemens Industry Online Support" app, you can access more than 300,000 documents for Siemens Industry products – any time and from anywhere The app can support you in areas including: • Resolving problems when implementing a project • Troubleshooting when faults develop • Expanding a system or planning a new system Furthermore, you have access to the Technical Forum and other articles from our experts: • FAQs • Application examples • Manuals • Certificates • Product announcements and much more The "Siemens Industry Online Support" app is available for Apple iOS and Android Data matrix code on the nameplate The data matrix code on the nameplate contains the specific device data This code can be read with a smartphone and technical information about the device displayed via the "Industry Online Support" mobile app 1.7 Important product information Using OpenSSL This product can contain the following software: • Software developed by the OpenSSL project for use in the OpenSSL toolkit • Cryptographic software created by Eric Young • Software developed by Eric Young SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Introduction 1.7 Important product information You can find more information on the internet: • OpenSSL (https://www.openssl.org) • Cryptsoft (https://www.cryptsoft.com) Compliance with the General Data Protection Regulation Siemens observes standard data protection principles, in particular the data minimization rules (privacy by design) For this product, this means: The product does not process or store any personal data, only technical function data (e.g time stamps) If the user links this data with other data (e.g shift plans) or if he/she stores personrelated data on the same data medium (e.g hard disk), thus personalizing this data, he/she must ensure compliance with the applicable data protection stipulations 10 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Singularity station 6.5 Behavior in and in the vicinity of the singularity Machine / setting data Explanation $SN_MIN_DIST_TO_SINGULARITY = 1.0e-3 Minimum distance to the singularity point This setting data defines the minimum distance to the singularity point in the programmed sets Blocks with positions between the value in SD41670 $SD_SINGULARITY_THRESHOLD and this SD are analyzed more intensively 6.5 Default value: 1.0ex-3 Recommended setting: 1.0ex-3 Min value: 1.0e-5 Max value: DBL_MAX Behavior in and in the vicinity of the singularity Operating mode The functionality is active in AUTO and MDI mode The behavior described in the Problem (Page 61) section is also in effect in JOG mode Principle of operation The NC preprocessing station scans the programmed path or block and checks it for singular positions The settable machine data $SN_SINGULARITY_THRESHOLD serves as the accuracy criterion for detecting the singularity The section of the path in which the singularity occurs is localized on the basis of this criterion This block is then divided into several subblocks The division can take place in or path sections depending on the position of the singularity, with one section of the path containing the singularity (see the figure below) The NC preprocessing station switches to the interpolation type PTP and activates G64 within the singular section of the path The other sections of the path continue to be traversed with CP and the programmed G6x function (e.g G645 or G60) If "Single Block" is activated, the inserted intermediate points are taken into consideration and an exact stop takes place This allows you to track the inserted intermediate points 64 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Singularity station 6.6 Example: Traversing through the alpha5 singularity with a 6-axis robot NC inserts intermediate point N10 X Y Z A B C CP N20 X Y Z A B C PTP NC inserts intermediate point N10 X Y Z A B C CP Singularity Figure 6-3 6.6 PTP Singularity N20 X Y Z A B C CP NC inserts intermediate point N10 X Y Z A B C CP N20 X Y Z A B C PTP Singularity Division of the block in the middle of the block (left), at the start of the block (center), and at the end of the block (right) Example: Traversing through the alpha5 singularity with a 6-axis robot Example The following figure shows the function using the example of "Traversing through the alpha5 singularity (axis RA5=0°) of a 6-axis robot" The part program only contains the gray start point and destination point N10 and N20 The control system detects the singular section based on the machine data $SN_SINGULARITY_THRESHOLD = 3.0ex-6 during preprocessing, divides the path, and inserts intermediate points The singular section of the path is traversed with PTP and G64 It is irrelevant whether the singularity is located in the programmed start point, destination point or, as shown in the following figure, in-between The singularity is detected in all cases and is bypassed by means of the inserted PTP block and G64 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE 65 Singularity station 6.7 Constraints N10 X Y Z A B C CP + G6x NC inserts intermediate point Singular position PTP + G64 NC inserts intermediate point CP + G6x N20 X Y Z A B C Figure 6-4 6.7 Traversing through the alpha5 singularity Constraints • The singularity station does not support smoothing with G64 when the "Advanced Surface" option is activated When switching from CP to PTP, an exact stop always occurs • Overlaps in the BCS (e.g $AA_OFF, TOFFL, DRV shift) are not taken into consideration, because they occur in the main run and thus after the NC station call Thus, the path can contain singularities despite an active singularity station • If a programmed block is completely singular and if the block length is >= 30 mm, then this block is not taken into consideration in the NC station Message 75327 is output • The NC station cannot be used in combination with Topsurface • The NC station cannot be used in combination with Collision Avoidance 66 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Measuring cycles 7.1 Information about the measuring cycles • Use the measuring cycles in conjunction with standard industrial robots with SINUMERIK 840Dsl - as described in the Programming Manual Measuring Cycles • It is essential that you calibrate a robot in order to improve the accuracy of the measurement results This increases the absolute precision of the robot Carefully note that kinematic robot errors flow into the measurement result As a consequence, this can result in increased form and position tolerances/deviations of the programmed features You must recalibrate the probe each time that a robot has been recalibrated Remeasure reference point Z0 when calibrating the probe length • Carefully note the specific constraints for the kinematics: – Before calling the measuring cycle, activate the robot transformation (TRAORI) – If you are using a probe, calibrate this at the robot kinematics being used (radius of the probe sphere/ball and probe length) Recalibrate the probe after each robot calibration – For all measurements that you perform, you must always align the probe orthogonally to the workpiece To this use the "Align plane" measuring cycle or define your own values Note The correction values are not automatically traversed through, but added as offset to the actual orientation angles (A, B, C) You must then manually traverse the axes through the correction values (A=0 B=0 C=0) Ensure that you avoid any collisions – CYCLE800 is not available in combination with ROBX Inclined planes in WCS, which cannot be emulated using the standard G17, G18, G19 planes, must be programmed using TOROT – The basic robot configuration that you use when making measurements (Shoulder left / Shoulder right ; Elbow Up / Elbow Down; Handflip – programmable with PTP and STAT/TU) should be identical for the subsequent technology-specific tasks This is how you avoid kinematic-specific inaccuracies References You can find additional information about the measuring cycles in the Programming Manual SINUMERIK 840D sl Measuring Cycles SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE 67 Measuring cycles 7.1 Information about the measuring cycles 68 SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE Examples 8.1 Program example - programming commands The following part program illustrates the commands explained in Chapter Programming (Page 47) as example: N1 G90 ; activation of an absolute position N2 T=“T8MILLD20“ D1 M6 ; activation of a tool N3 TRAORI ; activation of ROBX transformation for Cartesian traversing ;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90); actual value of the work offset G54 N4 G54 ; activation of the work offset N5 M3 S20000 ; programming the main spindle N6 ORIWKS ; activation of the orientation reference WCS N7 ORIVIRT1 ; activation of the turning sequence from $MC_ORIAX_TURN_TAB_1[0-2] N8 CYCLE832(0.01,_FINISH,1) ; activation of high-speed settings ;HOME ; defines the start position N9 TRAFOOF ; deactivates the transformation ; traverse robot axes/channel axes with rapid traverse N10 G0 RA1=0.0000 RA2=-90.0000 RA3=110.0000 RA4=0.0000 RA5=-20.0000 RA6=0.0000 N11 TRAORI N12 G54 ; traverse PTP block with explicit STAT/TU data STAT and TU are only taken into account when PTP travel is active N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223 C=161.1435 STAT=’B010’ TU=’B001011’ N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439 C=160.9941 STAT=’B010’ TU=’B001011’ ; traverse CP block (linear motion) N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770 F1000 N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643 F2000 N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655 ;HOME N18 TRAFOOF N19 G0 RA1=0.0000 RA2=-90.0000 RA3=110.0000 RA4=0.0000 RA5=-20.0000 RA6=0.0000 N20 M30; end of program SINUMERIK Run MyRobot /Direct Control Programming Manual, 01/2022, A5E45237742B AE 69 Examples 8.2 Program example - measuring cycles 8.2 Program example - measuring cycles The program example shows how to use measuring cycles corresponding to the scene shown in the diagram