Table of contents
1
Preface.........................................................................................................................................................5
2
2.1
2.2
2.3
2.4
Industrial security...................................................................................................................11
2.5
3
Introduction.................................................................................................................................................15
4
4.1
4.2
4.3
4.3.1
Overview................................................................................................................................18
4.3.2
4.3.3
5
Commissioning...........................................................................................................................................21
6
Adapting the machine model......................................................................................................................23
6.1
Overview................................................................................................................................23
6.2
Flange coordinate system......................................................................................................23
6.3
6.4
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
8.1.1
Overview................................................................................................................................35
8.1.2
Singular positions...................................................................................................................35
8.1.3
8.1.4
8.2
Torque precontrol...................................................................................................................43
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
3