Siemens SINUMERIK 840D sl Commissioning Manual page 55

6. Check the current controller for all of the 6 robot axes. Please proceed as follows:
– Select the screen form to parameterize the measurement via menu "Commissioning →
– Under measurement, select "Current controller measurement with active speed
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
Optimization/test → Current control loop".
controller".
Figure 5-18 Selecting the measurement function
Commissioning
5.6 Manual steps after installation
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