Siemens SINUMERIK Series Function Manual page 41

Specifying using $A_DBR variable
You define the index of the $A_DBR variable with the channel data
MC_CC_ROCO_ADBR_START_INDEX[0] to specify the machining force component in X
direction. The Y and Z components of the force are specified at the following indices. The
indices must be able to be divided by 4.
● F
● F
● F
The $A_DBR variables involved are read out in the IPO clock cycle, and are used as input
variables to calculate the compensation angle. You must specify the forces in kN (Kilonewton)
via this interface.
Synchronizing with the part program (with respect to time) must be realized as part of the
application engineering.
Specification using the virtual axes in the part program
Disturbing forces can also be specified in the traversing command of the virtual axes in the
part program.
To do this, you must create 3 virtual axes. Proceed as explained in the following example.
1. Open the general machine data. Declare the new axes, in the example, axes 8 to 10 (or
indices 7 to 9).
Figure 8-7
2. Assign the axes to the robot channel.
Figure 8-8
3. Configure the channel names.
Figure 8-9
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
= $A_DBR[MC_CC_ROCO_ADBR_START_INDEX[0]]
x
= $A_DBR[MC_CC_ROCO_ADBR_START_INDEX[0] + 4]
y
= $A_DBR[MC_CC_ROCO_ADBR_START_INDEX[0] + 8]
z
Declaring the axes
Assigning axes to the robot channel
Configuring channel names
8.1 Compensation of external disturbing forces
Application examples
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