Adapting The Machine Model; Overview; Flange Coordinate System - Siemens SINUMERIK Series Function Manual

Adapting the machine model

6.1

Overview

The robot model based on the ROCO compile cycle describes the static and dynamic response
of the robot:
● Including the robot basis, connected at the baseplate/floor
● With empty flange (without load)
● Without additional mass (which, for a 6-axis articulated robot, is mounted on axis 3)
Using GUD variables, you have the option of supplementing the robot model with the missing
properties/attributes that are relevant for compensation.
This involves the following attributes:
● Mass attributes of the tool carrier (e.g. gripper, milling spindle, pressure head)
● Tool mass (e.g. milling tool, if one is being used)
● Coordinates of the tool adapter point, relative to the robot flange
● Where relevant, any additional mass at the location specified in the robot documentation
The listed GUD variables are created during commissioning of the compile cycles (see section
Commissioning (Page 21)).
6.2

Flange coordinate system

The default setting for the flange coordinate system of the robot transformation serves as
reference for the extension of the ROCO robot model. ROCO has its own applicable flange
coordinates. The description of the ROCO flange coordinates is part of the ROCO configuration
file. You cannot change the description of the ROCO flange coordinates.
Unless specified otherwise, the orientation shown in the figure below applies to the ROCO
flange coordinate system. The orientation is the default setting when installing SINUMERIK
Run MyRobot /Direct Control:
N62911 $MC_ROBX_TFLWP_RPY[0] = 180 degrees
N62911 $MC_ROBX_TFLWP_RPY[1] = 0 degrees
N62911 $MC_ROBX_TFLWP_RPY[2] = 180 degrees
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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