Siemens SINUMERIK Series Function Manual
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Siemens SINUMERIK Series Function Manual

Siemens SINUMERIK Series Function Manual

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SINUMERIK
SINUMERIK 840D sl
SINUMERIK Run MyCC /ROCO
Function Manual
Valid for
Control
SINUMERIK 840D sl
Software
NCU system software for 840D sl
09/2018
A5E45818879B AA
version
4.8 SP2 HF1
Preface
Fundamental safety
instructions
Requirements relating to
Commissioning
Application examples
Service & Support
1
2
3
4
5
6
7
8
9
10
11
A

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Summary of Contents for Siemens SINUMERIK Series

  • Page 1: Table Of Contents

    Preface Fundamental safety instructions Introduction SINUMERIK Requirements relating to commissioning SINUMERIK 840D sl SINUMERIK Run MyCC /ROCO Commissioning Adapting the machine model Function Manual Functions Application examples Machine data Alarms Extended diagnostics Service & Support Valid for Control SINUMERIK 840D sl Software version NCU system software for 840D sl...
  • Page 2 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.
  • Page 3 Table of contents Preface.................................5 Fundamental safety instructions........................7 General safety instructions.......................7 Equipment damage due to electric fields or electrostatic discharge........10 Warranty and liability for application examples..............10 Industrial security........................11 Residual risks of power drive systems...................12 Introduction..............................15 Requirements relating to commissioning....................17 Hardware and software requirements..................17 Functional secondary conditions....................18 CC_ROCO configuration file....................18 4.3.1...
  • Page 4 Table of contents 3D-NOCO..........................44 Dynamic response adaptation....................44 Machine data..............................45 General machine data......................45 Channel-specific machine data....................45 Axial machine data.........................48 Alarms................................51 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 Service & Support............................57 Index................................61 SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 5: Preface

    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).

  • Page 6: Commissioning

    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.

  • Page 7: Fundamental Safety Instructions

    Fundamental safety instructions 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. ●...

  • Page 8: Functions

    Fundamental safety instructions 2.1 General safety instructions 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.
  • Page 9 ● 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...

  • Page 10: Equipment Damage Due To Electric Fields Or Electrostatic Discharge

    Fundamental safety instructions 2.3 Warranty and liability for application examples 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. ●...

  • Page 11: Industrial Security

    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...

  • Page 12: Residual Risks Of Power Drive Systems

    Fundamental safety instructions 2.5 Residual risks of power drive systems 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. ●...
  • Page 13 Fundamental safety instructions 2.5 Residual risks of power drive systems 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 –...
  • Page 14 Fundamental safety instructions 2.5 Residual risks of power drive systems SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 15: Introduction

    Introduction 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.

  • Page 16: Introduction

    Introduction SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 17: Requirements Relating To Commissioning

    Requirements relating to commissioning Hardware and software requirements Hardware Table 4-1 Hardware components Component Number Article number Comment SINUMERIK NCU 730.3 PN See catalog or Mall Software Table 4-2 Software components Component Number Order number Comment CNC software See catalog or Mall Software version 4.8 SP2 SINUMERIK Run MyCC /ROCO - 6FC5800-0AN83-0YB0...

  • Page 18: Functional Secondary Conditions

    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.

  • Page 19: The Robot Manufacturer's Data Is Known (Sinumerik/Sinamics With Robx)

    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.
  • Page 20 Requirements relating to commissioning 4.3 CC_ROCO configuration file SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 21: Commissioning

    Commissioning To commission SINUMERIK Run MyCC /ROCO, proceed as follows: Procedure 1. CopyFile "roco_*.elf" to the "Compile cycles" folder on the CF card. 2. Carry out a reset (POWER ON). 3. Create subdirectory "ROCO_COMP" on the CF card in folder "COM.DIR" 4.

  • Page 22: Extended Diagnostics

    Commissioning 7. Create the tool-specific data. – Supplement the following GUD variables in file "MGUD.DEF" in the "Definitions" folder. Example, "MGUD.DEF" ; ---------------------- DEF CHAN REAL PHU 2 ROCO_TC_FLANGE[3] DEF CHAN REAL PHU 2 ROCO_TC_COG[3] DEF CHAN REAL PHU 19 LLI 0 ROCO_TC_MASS DEF CHAN REAL PHU 20 LLI 0 ROCO_TC_INERTIA[3] DEF CHAN REAL PHU 19 LLI 0 ROCO_TOOL_MASS DEF CHAN REAL PHU 19 LLI 0 ROCO_ADD_MASS...

  • Page 23: Adapting The Machine Model

    Adapting the machine model Overview The robot model based on the ROCO compile cycle describes the static and dynamic response of the robot: ● Including the robot basis, connected at the baseplate/floor ● With empty flange (without load) ● Without additional mass (which, for a 6-axis articulated robot, is mounted on axis 3) Using GUD variables, you have the option of supplementing the robot model with the missing properties/attributes that are relevant for compensation.

  • Page 24: Parameterization Of The Tool Properties

    Adapting the machine model 6.3 Parameterization of the tool properties Figure 6-1 Flange coordinate system (default setting) Parameterization of the tool properties Variables to describe the physical tool properties are listed in the following table. Single-part tools (e.g. gripper, pressure head) - as well as two-part tools (milling spindle + milling tool) - are possible.
  • Page 25 Adapting the machine model 6.3 Parameterization of the tool properties Variable name Dimension Unit Meaning ROCO_TC_FLANGE For the single-part tool: Tool center point coordinates in the flange coordinate system. For the two-part tool: Coordinates of the tool adapter point in the tool coordinate system ROCO_TOOL_MASS Mass of the second tool part (if applicable)

  • Page 26: Parameter Assignment Of The Additional Mass At The Robot

    Adapting the machine model 6.4 Parameter assignment of the additional mass at the robot ROCO_TC_INERTIA = [0.5 0.5 0.05] ROCO_TC_FLANGE = [0 0 -250] ROCO_TOOL_MASS = 0 Example of a two-part tool ROCO_TC_COG (X, Y, Z) -200 -150 ROCO_TC_FLANGE (X, Y, Z) Figure 6-4 Example of a two-part tool ROCO_TC_MASS = 45...
  • Page 27 Adapting the machine model 6.4 Parameter assignment of the additional mass at the robot Example with additional mass at axis 3 ROCO_ADD_MASS = 34 Figure 6-5 Example, additional mass at axis 3 ROCO_ADD_MASS = 34 SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...
  • Page 28 Adapting the machine model 6.4 Parameter assignment of the additional mass at the robot SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 29: Functions

    Functions Using the ROCO compile cycle, you expand the language scope of SINUMERIK 840D sl to include the subsequently described functions. Function CC_ROCO Description Using the CC_ROCO function, you can activate or deactivate individual functions of the robot compensation. Before the first activation, you must import a configuration file with the CC_ROCOREAD instruction.

  • Page 30: Function Cc_Rocoread

    Functions 7.2 Function CC_ROCOREAD Meaning Parameter Meaning <Function parameter>: The parameter is bit-coded and is used to activate a ROCO function. decimal Function Gravitational force compensation Compensation of an external force Reserved Precontrol of the torques Optimized precontrol of the torques Is assumed for 3D-NOCO (bit 8 and bit 9);...

  • Page 31: 7.3 Function Cc_Rocoreread

    Functions 7.3 Function CC_ROCOREREAD You cannot read in the configuration file while ROCO is active. An attempt to execute this is rejected with an alarm. The configuration file is in subdirectory "ROCO_COMP" of the "COM.DIR" folder. The name must comply with the following syntax: ROCO<n>_CH<c>.DAT <n>...

  • Page 32: Function Cc_Rocosetal

    Functions 7.4 Function CC_ROCOSETAL You do not have to deactivate ROCO while updating the data. NOTICE Compensating motion When activating the new tool data with CC_ROCOREREAD, the robot tool center point executes compensatory motion. This GUD data is also read-in after the configuration file has been read in. A CC_ROCOREREAD is not necessary after CC_ROCOREAD.
  • Page 33 Functions 7.4 Function CC_ROCOSETAL Example CC_ROCOSETAL(0) ; Deactivate output of alarm 75411 SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...
  • Page 34 Functions 7.4 Function CC_ROCOSETAL SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 35: Application Examples

    Application examples Compensation of external disturbing forces 8.1.1 Overview Compensating the shift of the robot as a result of the influence of a disturbing force is realized via the temperature compensation interface. If another mechanism is already using the same interface, then the compensation value from ROCO is additionally added.
  • Page 36 Application examples 8.1 Compensation of external disturbing forces Scaling factor [1] Clearance to the singularity [°] CC_ROCO_POLE_DETECT_ANGLE[1] CC_ROCO_POLE_DETECT_ANGLE[0] Figure 8-1 Compensation of external disturbing forces Example 1: Axis 5 at 0° Figure 8-2 Alpha 5 singularity - axis 4 and axis 6 are collinear and parallel SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...
  • Page 37 Application examples 8.1 Compensation of external disturbing forces If axis 5 is at position 0° - then axes 4 and 6 are redundant. In this case, the compensation angles of the manual axes are reduced to 0° - and the orientation at the TCP is no longer compensated.

  • Page 38: Compensation Of The Force Due To Weight

    Application examples 8.1 Compensation of external disturbing forces Example 3: Axis 1, axis 4 and axis 6 are coaxial Figure 8-4 Alpha 3 singularity - axis 1, axis 4 and axis 6 are coplanar and parallel The maximum tool center point height is reached in this pose. If a disturbing force is applied in the Z axis, then robot "compression"...
  • Page 39 Application examples 8.1 Compensation of external disturbing forces To compensate for the force due to weight, the model supplemented by the tool mass and additional mass applies (Section Adapting the machine model (Page 23)). You enter the direction of the force due to weight using channel parameter MC_CC_ROCO_GRAVITY_VECTOR[0…2].

  • Page 40: Compensation Of An External Force

    Application examples 8.1 Compensation of external disturbing forces GRAVITY VECTOR [1 0 0] Figure 8-6 Gravitational force compensation - robot mounted onto the wall 8.1.4 Compensation of an external force Description You activate the compensation of an external disturbing force by calling CC_ROCO(2). The following interfaces can be used to enter a disturbing force: ●...
  • Page 41 Application examples 8.1 Compensation of external disturbing forces Specifying using $A_DBR variable You define the index of the $A_DBR variable with the channel data MC_CC_ROCO_ADBR_START_INDEX[0] to specify the machining force component in X direction. The Y and Z components of the force are specified at the following indices. The indices must be able to be divided by 4.
  • Page 42 Application examples 8.1 Compensation of external disturbing forces 4. Declare the 3 axes as simulated axes. – MA30132 MA_IS_VIRTUAL_AX = 1 – MA30350 MA_SIMU_AX_VDI_OUTPUT = 1 NC/PLC interface signals of a simulated axis are output to the PLC. 5. Declare the 3 new axes as input axes for specifying the disturbing force in the channel data of ROCO.

  • Page 43: Torque Precontrol

    Application examples 8.2 Torque precontrol N130 X1 F_Y=43 N140 X9 N150 X4 F_Y=-86 N160 X10 N170 G0 Z50 N180 M30 Force F_Y [kN] N140 N150 N120 N130 43 kN 9 mm 9 mm 9 mm 10 mm Distance X [mm] N100 N110 N160...

  • Page 44: Noco

    Application examples 8.4 Dynamic response adaptation 3D-NOCO For three-dimensional "Nodding compensation", reaction forces in the robot structure are compensated while an axis is accelerating. The compensation comprises 2 modules, which can be activated independently of one another: ● compensation of the support torques using CC_ROCO(256): When an axis accelerates, the accelerating force –...

  • Page 45: Machine Data

    Machine data After it has been activated, the ROCO compile cycle generates channel-specific and axial machine data. General machine data 60945 $MN_CC_ACTIVE_IN_CHAN_ROCO 00.00.00 Activation POWER ON DWORD Description: $MN_CC_ACTIVE_IN_CHAN_ROBX[0]: Activating the CC ROCO compile cycle in the nth channel: Bit 0: 1st channel Bit 1: 2nd channel …...

  • Page 46: Machine Data

    Machine data 9.2 Channel-specific machine data 62820 CC_ROCO_ADBR_START_INDEX 00.00.00 System Dimension Default value Minimum value Maximum value Protection Class Standard -1, -1 32400 62821 CC_ROCO_FORCE_AXIS_INDEX 00.00.00 Index of the virtual axes to enter the disturbing force RESET DWORD Description: This MD contains the indices of the channel axes used for specifying a disturbing force in the part program. The axes involved should be commissioned as virtual axes.
  • Page 47 Machine data 9.2 Channel-specific machine data 62824 CC_ROCO_JERK_FACTOR_AT_LIM 00.00.00 System Dimension Default value Minimum value Maximum value Protection Class Standard 10.0 62825 CC_ROCO_ADAPT_ACCEL_LIMIT 00.00.00 Acceleration limit for adaptation RESET DOUBLE Description: Minimum and maximum values for the acceleration when adapting the acceleration using the pose. System Dimension Default value...

  • Page 48: Axial Machine Data

    Machine data 9.3 Axial machine data 62828 CC_ROCO_POLE_DETECT_ANGLE 00.00.00 Description: A value is calculated for each axis that is used as criterion for the "Safety margin" to singularity. If this "safety margin" lies below threshold "thetalim", then 0 is written to the compensation angle If this "safety margin"...
  • Page 49 Machine data 9.3 Axial machine data 63641 CC_ROCO_AXIS_DIR 00.00.00 Traversing direction of the machine axis RESET DWORD Description: This machine data adapts the positive traversing direction of a machine axis to the mathematical model. This acts on the input value of the machine axis in the model - and on the calculated compensation value. 1: The positive traversing direction of the machine axis matches the mathematical model.
  • Page 50 Machine data 9.3 Axial machine data 63645 CC_ROCO_AX_TORSION_STIFF 00.00.00 Torsional stiffness of the drive train in [Nm/rad] NEW CONF DOUBLE Description: Torsional stiffness of the axis. Quantity at the output in [Nm/rad] The initial value should correspond to that of the gearbox. A more precise determination can be made with AST. The MD is created as field.

  • Page 51: Alarms

    Alarms Compile cycle ROCO signals error states by issuing its own alarms. 75410 ROCO channel %1 configuration error %2 01.00.00 Explanation The CC_ROCO requires certain settings of the machine data. The error parameter indicates the cause. 1 Number of CC block elements too low 2 CC block memory too small 3 The heap memory specified in MD 62821 $MC_CC_ROCO_HEAP_MEM was not able to be requested.

  • Page 52: Alarms

    Alarms 75412 ROCO channel %1 block %2 inadmissible activation of the com‐ 01.00.00 pensation error number %3 Explanation The CC_ROCO requires certain settings of the machine data. The error parameter indicates the cause. 1 No CC block element available 2 CC block memory too small 3 The heap memory specified in MD 62821 $MC_CC_ROCO_HEAP_MEM was not able to be requested.
  • Page 53 Alarms 75413 ROCO channel %1 read-in error for configuration file %2 line %3 01.00.00 Explanation When reading in the configuration file, an illegal syntax was identified or the compensation was still active. Positive line numbers indicate the incorrect line in the configuration file. A line number of -1 indicates that the compensation was still active as the configuration file was to be read in.
  • Page 54 Alarms 75416 ROCO channel %1 torque feedforward control active with imper‐ 01.00.00 missible parameterization in MD %2 Explanation Before activating the torque feedforward control by means of CC_ROCO or by setting the GUD ROCO_FUNCTION, the torque feedforward control of the standard system must be correctly parameterized.

  • Page 55: Extended Diagnostics

    Extended diagnostics 11.1 Switching off ROCO Normally, you deactivate ROCO functions using a part program command CC_ROCO(0). If the control is in a state that prevents a part program from being started, then you can also switch off ROCO by setting the channel-specific GUD variable ROCO_FUNCTION=0. 11.2 Value for compensation and inertia matrix The following table lists the GUD variables that are written to when the ROCO function is active.
  • Page 56 Extended diagnostics 11.3 Diagnostics of the memory management SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 57: Service & Support

    Our Service & Support accompanies you worldwide in all matters concerning automation and drives from Siemens. We provide direct on-site support in more than 100 countries through all phases of the life cycle of your machines and plants.
  • Page 58 Training Extend your market lead – with practice-oriented know-how directly from the manufacturer. Your local SIEMENS office will provide you with information about the training courses that are available. Engineering support Support with project engineering and development with services tailored to requirements from configuration through to implementation of an automation project.
  • Page 59 Service & Support The services of a service program can be flexibly adapted at any time and used independently of each other. Examples of service programs: ● Service contracts ● Plant IT Security Services ● Life Cycle Services for Drive Engineering ●...
  • Page 60 Service & Support SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

  • Page 61: Index

    Index Alarms, 51 Axial machine data CC_ROCO_ADBR_START_INDEX, 48 CC_ROCO_AX_TORSION_STIFF, 50 CC_ROCO_AXIS_DIR, 49 CC_ROCO_AXIS_OFFSET, 49 CC_ROCO_MAX_AX_TORQUE, 49 CC_ROCO_MOT_INERTIA, 50 CC_ROCO_TORQUE_MULT, 49 Channel-specific machine data CC_ROCO_ADAPT_ACCEL_LIMIT, 47 CC_ROCO_ADAPT_JERK_LIMIT, 47 CC_ROCO_ADBR_START_INDEX, 45 CC_ROCO_FILTER_DAMPING, 48 CC_ROCO_FILTER_FREQUENCY, 48 CC_ROCO_FORCE_AXIS_INDEX, 46 CC_ROCO_GRAVITY_VECTOR, 47 CC_ROCO_HEAP_MEM, 46 CC_ROCO_JERK_FACTOR_AT_LIM, 46 CC_ROCO_JMOT_AXIS_PER_CYCLE, 46 CC_ROCO_POLE_DETECT_ANGLE, 47 General machine data...
  • Page 62 Index SINUMERIK Run MyCC /ROCO Function Manual, 09/2018, A5E45818879B AA...

This manual is also suitable for:

Sinumerik 840d slSinumerik run myccSinumerik run roco

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