Parameter Assignment Of The Additional Mass At The Robot - Siemens SINUMERIK Series Function Manual

Adapting the machine model

6.4 Parameter assignment of the additional mass at the robot

ROCO_TC_INERTIA = [0.5 0.5 0.05]
ROCO_TC_FLANGE = [0 0 -250]
ROCO_TOOL_MASS = 0
Example of a two-part tool
Figure 6-4
ROCO_TC_MASS = 45
ROCO_TC_COG = [0 0 -150]
ROCO_TC_INERTIA = [0.15 1.2 1.2]
ROCO_TC_FLANGE = [-200 0 -150]
ROCO_TOOL_MASS = 3
6.4 Parameter assignment of the additional mass at the robot
For certain robot types, you can mount an additional unit to the robot arm. For 6-axis articulated
robots, generally, this unit is mounted onto axis 3.
The mounting location and the maximum permissible mass of the unit is specified in the
technical documentation provided by the robot manufacturer.
To supplement the model, just the mass of the attached unit is required.
Variable name
ROCO_ADD_MASS
The value remains at 0 if there is no additional mass.
26
X
FL
Z
FL
-150
Example of a two-part tool
Dimension
1
ROCO_TC_COG (X, Y, Z)
-200
ROCO_TC_FLANGE (X, Y, Z)
Unit Meaning
kg Additional mass
Function Manual, 09/2018, A5E45818879B AA
SINUMERIK Run MyCC /ROCO