Introduction - Siemens SINUMERIK Series Function Manual

Introduction

SINUMERIK Run MyCC /ROCO is a mechatronic extension function for 6-axis robots for
operation with SINUMERIK 840D sl. With SINUMERIK Run MyCC /ROCO you can increase
the positioning and machining path accuracy as well as the axis dynamics in the entire working
area of the robot.
CC_ROCO is based on a configuration and/or model file. This file includes the physical
attributes of the robot mechanical system (e.g. mass, moment of inertia, center of gravity,
elasticities and drive train). The following functions are implemented using these robot-type
specific model data.
Functions
Function
Torque precontrol
3D nodding compensation
Compensation of external forces (e.g. gravitational
or process forces)
Dynamic adaptation of acceleration and jerk in for‐
ward motion by utilizing the maximum axis torque
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Effect
Reduction of the position and velocity-dependent
following error:
● Increased machining path accuracy
● Improved positioning behavior
Compensation of acceleration processes in the re‐
spective robot axis and across axes (over-cou‐
pling):
● Increased machining path accuracy
Gravitational force:
● Increased absolute precision
● Increased absolute path accuracy
Process force:
Reduction of the displacement of the robot TCP
● Increased path accuracy
Utilization of the max. axis torques
● Shorter machining time
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