Compensation Of The Force Due To Weight - Siemens SINUMERIK Series Function Manual

Application examples
8.1 Compensation of external disturbing forces
Example 3: Axis 1, axis 4 and axis 6 are coaxial
Figure 8-4
The maximum tool center point height is reached in this pose. If a disturbing force is applied
in the Z axis, then robot "compression" is no longer compensated. In this case, only the
Cartesian directions X and Y of the basic coordinate system are compensated.
8.1.3

Compensation of the force due to weight

You activate the compensation of the force due to weight using operation CC_ROCO(1). The
compensation acts immediately: You therefore activate the compensation in a position in which
gravity has the least impact. To do this, it is recommended that the compensation is activated
within half the range.
This recommendation is also applicable when deactivating compensation using the
CC_ROCO(0) operation.
38
Alpha 3 singularity - axis 1, axis 4 and axis 6 are coplanar and parallel
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA