Functional Secondary Conditions; Cc_Roco Configuration File; Overview; The Robot Manufacturer's Data Is Known (Run Myrobot /Direct Control) - Siemens SINUMERIK Series Function Manual

Requirements relating to commissioning

4.3 CC_ROCO configuration file

4.2

Functional secondary conditions

Note the following secondary conditions when using SINUMERIK Run MyCC /ROCO:
● SINUMERIK Run MyCC /ROCO can only be operated with a single channel. This does not
have to be the 1st channel.
● SINUMERIK Run MyCC /ROCO can be used in combination with the following SINUMERIK
Run MyRobot products:
● Please observe the following dependencies regarding the setting of the IPO clock cycle:
4.3 CC_ROCO configuration file
4.3.1

Overview

Before SINUMERIK Run MyCC /ROCO is commissioned, the configuration file
"ROCO<n>_CH<c>.DAT" (e.g. "ROCO1_CH1.DAT" for installation in the first channel) must
be created. Only SIEMENS can generate the configuration file. The workflow when generating
the file depends on the data provided by the robot manufacturer. The two possible workflows
are described in the following.
4.3.2

The robot manufacturer's data is known (Run MyRobot /Direct Control)

The data required for the configuration file for the specific robot type was defined in advance
between the robot manufacturer and Siemens. In this case, SIEMENS can provide the
configuration file. No further measures are required.
Contact your SIEMENS customer representative to find out which robot types from the robot
portfolio of the respective robot manufacturer are supported.
18
ROCO function RMR /Direct
Control or
/SINAMICS
(ROBX)
Torque precontrol Yes
3D-NOCO Yes
Compensation of an Yes
external force
Dynamic response Yes
adaptation
Active function ROCO-FFW
ROBX + AXCO 4 ms
ROBX + AXCO + 8 ms
UCI (ISIOS)
RMR /Machining RMR /Handling
No No
No No
No No
No No
+ 3D-NOCO + Ext. force
4 ms 4 ms
8 ms 8 ms
Function Manual, 09/2018, A5E45818879B AA
RMR /Easy Con‐
nect
No
No
No
No
+ Dynamic re‐
sponse adapta‐
tion
4 ms
8 ms
SINUMERIK Run MyCC /ROCO