109747107 Application Run My Robot Handling V3.1 simplfied startup procedure en

Run my Robot
Handling V3.1
simplified start up
procedure
SINUMERIK 840D sl / SW 4.7 SP3
https://support.industry.siemens.com/cs/ww/en/view/109747107
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Industry
Online
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Warranty and liability
Warranty and liability
Note
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RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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Table of contents
Table of contents
Warranty and liability ................................................................................................... 2
1
Run My Robot Handling (RMRH) V3.1 . simplified startup procedure ......... 4
1.1
1.2
1.3
1.4
1.5
1.5.1
1.6
1.7
1.8
1.9
1.9.1
Ideal for shows and demonstrations .................................................... 4
Hardware .............................................................................................. 4
Software Siemens ................................................................................ 4
Software KUKA .................................................................................... 5
Wiring – Profinet ................................................................................... 6
Profinet device names and Safety destination addresses ................... 6
Installation of the NC data and PLC program ...................................... 7
Installation of the HMI data................................................................... 7
Using the sample PLC project .............................................................. 9
Safety Integrated ................................................................................ 10
Run MyRobot in stand alone mode .................................................... 11
Related literature ............................................................................................. 13
3
Contact.............................................................................................................. 13
4
History............................................................................................................... 13
Copyright  Siemens AG 2017 All rights reserved
2
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1
Run My Robot Handling (RMRH) V3.1 .
simplified startup procedure
1.1
Ideal for shows and demonstrations
In this case the setup is basically made by loading the start up archive and the HMI
applications in the RMRH delivery package.
This is useful when it is required to get a running application of Run My Robot
Handling (RMR_H) quickly without going into a lot of engineering work.
This is the case with shows, exhibitions and demonstrations of RMR_H
1.2
Hardware
Sinumerik 840Dsl NCU710.3 or higher
Machine control panel 483 version, not the 310 version
Any Sinumerik OP
Copyright  Siemens AG 2017 All rights reserved
ET200S with the same hardware as shown in the hardware configuration of the
sample Step 7 project.
Figure 1-1 Set up the ET200S with these same parts
PCU50.5 optional
HT8 optional
Motor module and motor optional - see section 1.9.1
1.3
Software Siemens
SW: SW 4.7 SP4 HF1 (Export or Standard both OK)
The Run MyRobot Handling V3.1 package – file name “20170401_rmrh31.zip”
If using PCU50.5 etc. / then use Operate for PCU SW4-7 Sp4HF1 .
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1.4
Software KUKA
On the KUKA you must have mxAutomation mxA 2.1.x
KUKA SW : 8.3.26 or higher
And these packages with versions:
Copyright  Siemens AG 2017 All rights reserved
Figure 1-2 Navigation on KUKA control mxAutomation
Figure 1-3 Available options on mxAutomation
RMR Handling simplified procedure
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1.5
Wiring – Profinet
Connect the Profinet componentsn according to the Step7 hardware configuration:
From either the X150 connector on the NCU to the ET200S rack and to the KUKA
controller ( if using standard KUKA cabinet then Connector KLI, if using Compact
cabinet then RJ45 socket directly above the 220V power connector) .
Copyright  Siemens AG 2017 All rights reserved
Figure 1-4 PROFINET connections
1.5.1
Profinet device names and Safety destination addresses
Set the device names and safety destination addresses as shown in this table.
Table 1-1
PROFINET- device names
Safety destination
address
KUKA Robot control
Kuka-rc-1
300
4/8 FD-I module in ET200S
Safe
200
RMR Handling simplified procedure
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1.6
Installation of the NC data and PLC program
Load the startup archive from the delivery package (directory rmrh31rc1\arc) into
the NC.
Copyright  Siemens AG 2017 All rights reserved
Figure 1-5 Navigation to commissioning archiv
1.7
Installation of the HMI data
Before transferring all HMI directories and files to the control (CF card or PCU)
check to see if there is already a file “systemconfiguration.ini” in the path
oem\sinumerik\hmi. If there is already a file with this name at this location then it is
necessary to add the lines in the RMRH version of “systemconfiguration.ini” to the
version already on the machine, i.e. the files are merged together. If these is no
preexisting file then the RMRH version of “systemconfiguration.ini” can be taken
directly.
Transfer all HMI files from the delivery package directory path
rmrh31rc1\card\oem\sinumerik\hmi:
Operate on NCU: When using internal HMI with TCU, transfer the HMI files to the
same directory on the CF card (i.e card\oem\sinumerik\hmi).
RMR Handling simplified procedure
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
Copyright  Siemens AG 2017 All rights reserved
Figure 1-6 Installation of HMI data
a. Operate on PCU: When using PCU50 transfer the hmi files to this path.
–
System(C)\Program Files\Siemens\Motion Control\oem\sinumerik\hmi
Figure 1-7 Transfer HMI data to SINUMERIK
RMR Handling simplified procedure
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1.8
Using the sample PLC project
The sample PLC project has been loaded into the control (as described in section
1.6) as part of the startup archive from the delivery package.
The delivery package contains the Step 7 source project corresponding to the PLC
project in the startup archive loaded according to section 1.6.
After opening Step7 it can be found in the path shown here:
Copyright  Siemens AG 2017 All rights reserved
Figure 1-8 folder structure for loading PLC projects
It will probably be necessary to modify parts of the sample PLC for example if the
safety integrated I/O in the project does not exactly match what is present on the
machine.
RMR Handling simplified procedure
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
1.9
Safety Integrated
With KUKA you have the following possibilities.
Copyright  Siemens AG 2017 All rights reserved
Table 1-2
Safety signals
via
Profisafe?
Description
of
configuration
Is it possible
to jog robot
axes with
open door
from KUKA
SmartPad?
Is it possible
to jog robot
axes with
open door
from HT8 (if
present)?
1.
Na safety
signals via
Profinet cable
(Profisale) from
SINUMERIK
Use the hardware safety
interface on KUKA SIB
board X11/X13 with
hardware safety relays for
door closed , E Stop etc.
Yes, when
pressing hold
to run on back
of SmartPad.
No
2.
Safety signals
via Profinet
(Profisafe)
from the
Sinumerik but
on KUKA
“Safe
Operation”
not installed
Do not need SIB board and
connector X11/X13 – the
basic safety signals E-Stop,
Safe Operational Stop etc
come from Safety
Integrated in the Sinumerik
Yes , as
above.
No
3.
As above in
line 4 but with
KUKA “Safe
Operation”
As above in line 4, except that
there are additional safety
signals provided by the Safety
Integrated in the SINUMERIK
Yes.
Yes , when
pressing
safety switch
on back of
H/8.
We (KUKA and Siemens) recommend the second line configuration for an
exhibition. It is not necessary to use line three which is too complicated.
If you use second line configuration then you will see from the archive, machine
data.
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
Figure 1-9 Configuration of second row
10386 etc are set up for 1 F-DI module ( in this case ET200S) for the local safety
inputs E-Stop on MCP, etc.. These local inputs have the address INSE1—4.
You may need to modify this according to what you have on site
Copyright  Siemens AG 2017 All rights reserved
The INSE’s and OUTSE’s to the robot start at INSE/OUTSE33. No changes should
be necessary in this area.
1.9.1
Run MyRobot in stand alone mode
If you have Run MyRobot in “Stand alone” mode, that means without real axes for
Safety Intergated then you cannot protect the safe program (cannot set machine
datum 11500 <0, and DB18.DBX36.0=1). This means that you will get this
message 27095 (see below). This alarm is not a problem – it does not prevent the
axes moving, it can be reset via Reset key. If however it is a problem (i.e you do
not want the alarm to ever appear) then it will be necessary commission Safety
Integrated and to have a Motor Module either with a motor permanently connected
or if the motor non drive CliQ and SMC is used you just need the motor to
commission safety integrated and then the motor can be removed (and
DB31.DBX1.5 set to 0).
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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1 Run My Robot Handling (RMRH) V3.1 . simplified startup procedure
Copyright  Siemens AG 2017 All rights reserved
Figure 1-10 Pending alarms
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
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2 Related literature
2
Related literature
Table 2-1
Topic
Title / Link
\1\
Siemens Industry
Online Support
http://support.automation.siemens.com
\2\
Download page of
this entry
https://support.industry.siemens.com/cs/ww/en/view/1097471
07
\3\
3
Contact
Copyright  Siemens AG 2017 All rights reserved
Siemens AG
Digital Factory
Motion Control
SINUMERIK Support
DF MC MTS PPM
Frauenauracher Strasse 80
91056 Erlangen
Germany
4
History
Table 4-1
Version
Date
V1.0
06/2017
RMR Handling simplified procedure
Item-ID: 109747107, V1.0, 06/2017
Modifications
First version
13