Commissioning - Siemens SINUMERIK Series Function Manual

Commissioning

To commission SINUMERIK Run MyCC /ROCO, proceed as follows:
Procedure
1. CopyFile "roco_*.elf" to the "Compile cycles" folder on the CF card.
2. Carry out a reset (POWER ON).
3. Create subdirectory "ROCO_COMP" on the CF card in folder "COM.DIR"
4. Copy configuration file "ROCO<n>_CH<c>.DAT" to folder "ROCO_COMP".
5. Activate CC_ROCO by setting machine data $MN_CC_ACTIVE_IN_CHAN_ROCO[0] = n.
Additional information is provided in Section Machine data (Page 45).
Note
CC_ROCO can only be activated in one channel.
6. Parameterize the following channel and axis machine data of CC_ROCO:
MD28105 $MC_MM_NUM_CC_HEAP_MEM = $MC_MM_NUM_CC_HEAP_MEM +
CC_ROCO_HEAP_MEM; recommendation for CC_ROCO_HEAP_MEM=7000
The parameterization of the following machine data is provided together with the ROCO
configuration file. It is mandatory that you set the machine data. To set the supplied machine
data for all six robot axes, you can also start a part program.
MD63640 $MA_CC_ROCO_COMP_VAL_LIMIT
MD63641 $MA_CC_ROCO_AXIS_DIR
MD63642 $MA_CC_ROCO_AXIS_OFFSET
MD63643 $MA_CC_ROCO_TORQUE_MULT
MD63644 $MA_CC_ROCO_MAX_AX_TORQUE
MD63645 $MA_CC_ROCO_AX_TORSION_STIFF
MD63646 $MA_CC_ROCO_MOT_INERTIA
Set the other ROCO machine data depending on the functionality required.
Additional information:
– Functions (Page 29) and application examples (Page 35)
– Machine data (Page 45)
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
NOTICE
Collision
Parameterize the machine data as described. Otherwise, when activating CC_ROCO the
wrong compensation values can be output - possibly resulting in collisions.
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