Measuring Cycles; Information About The Measuring Cycles - Siemens SINUMERIK 840D sl Programming Manual

Measuring cycles

5.1

Information about the measuring cycles

● Use the measuring cycles in conjunction with standard industrial robots with SINUMERIK
840Dsl - as described in the Programming Manual Measuring Cycles.
● It is essential that you calibrate a robot in order to improve the accuracy of the measurement
results. This increases the absolute precision of the robot. Carefully note that kinematic
robot errors flow into the measurement result. As a consequence, this can result in
increased form and position tolerances/deviations of the programmed features. You must
recalibrate the probe each time that a robot has been recalibrated. Remeasure reference
point Z0 when calibrating the probe length.
● Carefully note the specific secondary conditions for the kinematics:
– Before calling the measuring cycle, activate the robot transformation (TRAORI).
– If you are using a probe, calibrate this at the robot kinematics being used (radius of the
– For all measurements that you perform, you must always align the probe orthogonally to
– CYCLE800 is not available in combination with ROBX. Inclined planes in WCS, which
– The basic robot configuration that you use when making measurements (Shoulder left /
References
You can find additional information about the measuring cycles in the Programming Manual,
Measuring Cycles:
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
probe sphere/ball and probe length). Recalibrate the probe after each robot calibration.
the workpiece. To do this use the "Align plane" measuring cycle or define your own
values.
Note
The correction values are not automatically traversed through, but added as offset to the
actual orientation angles (A, B, C). You must then manually traverse the axes through
the correction values (A=0 B=0 C=0). Ensure that you avoid any collisions.
cannot be emulated using the standard G17, G18, G19 planes, must be programmed
using TOROT.
Shoulder right ; Elbow Up / Elbow Down; Handflip – programmable with PTP and STAT/
TU) should be identical for the subsequent technology-specific tasks. This is how you
avoid kinematic-specific inaccuracies.
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