Siemens SINUMERIK 840D sl Commissioning Manual page 54

Commissioning
5.6 Manual steps after installation
4. Activate at least the following Safety functions provided by SINUMERIK Safety Integrated
plus:
– SS1/STO (emergency stop)
– Axial SLS
Note
You will find the maximum delay time for SS1/STOP B (p9556) for axes 1-3 in the data sheets
of each type of robot (Chapter "Braking times and stopping distances"). Select the braking
time for the max. payload and max. speed of each axis (as exemplified in the following
graphic). In combination with p9650=0, this ensures that the robot axis switches to STOP A
if the braking time is shorter (e.g. due to a smaller payload or lower speed). For axes 4-6, you
have to determine the times by means of a measurement (trace).
Figure 5-17
5. Determine the angular commutation offset for all of the robot axes.
The following variables are set by the drive macro:
– Pole ID method "saturation-based" (p1980=1)
– The max. path for the pole ID method is 1° (p1981=1)
– Pole position identification current (p329 >= 0.35*p323)
Now perform the following steps for all 6 SINAMICS drives of the robot. Begin with axis 6:
Note:
You must not linger within reach of the robot. If the identification fails, jerky movement of the
mechanisms is possible.
– Step 1: Set p1990 = 1. The SINAMICS drive determines the pole position angle during this
– Step 2: To check the results, set p1983 = 1. An angle <5° must then be visible in r1984.
– Step 3: Move the axis slightly. Set p1983 = 1. The value in r1984 should be < 5°. If this is
54
Example of braking time from a data sheet
(duration approx. 1 second). After completion, p1990 = 0 is set. The pole position angle
difference is shown in p1984.
not the case, increase the current in p329 by 5 percentage points (=> 0.40*p323) and go
back to Step 1.
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD