Siemens SINUMERIK Series Function Manual page 3

Table of contents
1 Preface.........................................................................................................................................................5
2 Fundamental safety instructions...................................................................................................................7
2.1 General safety instructions.......................................................................................................7
2.2 Equipment damage due to electric fields or electrostatic discharge......................................10
2.3 Warranty and liability for application examples......................................................................10
2.4 Industrial security...................................................................................................................11
2.5 Residual risks of power drive systems...................................................................................12
3 Introduction.................................................................................................................................................15
4 Requirements relating to commissioning....................................................................................................17
4.1 Hardware and software requirements....................................................................................17
4.2 Functional secondary conditions............................................................................................18
4.3 CC_ROCO configuration file..................................................................................................18
4.3.1 Overview................................................................................................................................18
4.3.2 The robot manufacturer's data is known (Run MyRobot /Direct Control)...............................18
4.3.3 The robot manufacturer's data is known (SINUMERIK/SINAMICS with ROBX)....................19
5 Commissioning...........................................................................................................................................21
6 Adapting the machine model......................................................................................................................23
6.1 Overview................................................................................................................................23
6.2 Flange coordinate system......................................................................................................23
6.3 Parameterization of the tool properties..................................................................................24
6.4 Parameter assignment of the additional mass at the robot....................................................26
7 Functions....................................................................................................................................................29
7.1 Function CC_ROCO...............................................................................................................29
7.2 Function CC_ROCOREAD.....................................................................................................30
7.3 Function CC_ROCOREREAD................................................................................................31
7.4 Function CC_ROCOSETAL...................................................................................................32
8 Application examples..................................................................................................................................35
8.1 Compensation of external disturbing forces...........................................................................35
8.1.1 Overview................................................................................................................................35
8.1.2 Singular positions...................................................................................................................35
8.1.3 Compensation of the force due to weight...............................................................................38
8.1.4 Compensation of an external force........................................................................................40
8.2 Torque precontrol...................................................................................................................43
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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