Extended Diagnostics - Siemens SINUMERIK Series Function Manual

Commissioning
7. Create the tool-specific data.
– Supplement the following GUD variables in file "MGUD.DEF" in the "Definitions" folder.
– Once the GUD variables have been generated, enter the tool-specific data (see
8. Optional: Create diagnostics data
Add the GUD variables in file "MGUD.DEF" from Point (7).
Additional information:
– Extended diagnostics (Page 55)
9. CC_ROCO has now been commissioned. You can now activate the relevant CC_ROCO
function.
Further information:
– Functions (Page 29)
– Application examples (Page 35)
22
Example, "MGUD.DEF"
; ----------------------
DEF CHAN REAL PHU 2 ROCO_TC_FLANGE[3]
DEF CHAN REAL PHU 2 ROCO_TC_COG[3]
DEF CHAN REAL PHU 19 LLI 0 ROCO_TC_MASS
DEF CHAN REAL PHU 20 LLI 0 ROCO_TC_INERTIA[3]
DEF CHAN REAL PHU 19 LLI 0 ROCO_TOOL_MASS
DEF CHAN REAL PHU 19 LLI 0 ROCO_ADD_MASS
DEF CHAN INT ROCO_FUNCTION
; the following data depend on the particular robot type
REDEF ROCO_TC_FLANGE APR 1 APW 1
REDEF ROCO_TC_COG APR 1 APW 1
REDEF ROCO_TC_MASS APR 1 APW 1
REDEF ROCO_TC_INERTIA APR 1 APW 1
REDEF ROCO_TOOL_MASS APR 1 APW 1
REDEF ROCO_ADD_MASS APR 1 APW 1
M30
; LLI = ;lower limit value
; PHU = ;phys. Unit
; APR/APW = 1 ;read/write rights - 1 = machine builder
; ----------------------
Customize machine model (Page 23)).
NOTICE
Collision
Parameterize the tool-specific data. Otherwise, when activating CC_ROCO the wrong
compensation values can be output - possibly resulting in collisions.
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA