Application Examples; Compensation Of External Disturbing Forces; Overview; Singular Positions - Siemens SINUMERIK Series Function Manual

Application examples

8.1

Compensation of external disturbing forces

8.1.1

Overview

Compensating the shift of the robot as a result of the influence of a disturbing force is realized
via the temperature compensation interface. If another mechanism is already using the same
interface, then the compensation value from ROCO is additionally added.
When compensating disturbing forces, a compensation angle is calculated for all axes. This
compensates the shift of all 6 degrees of freedom of the TCP (3 spatial coordinates + 3
orientation angles).
You enter the maximum permissible compensation value for each axis with the machine data
MA_CC_ROCO_COMP_VAL_LIMIT.
You can find a description of how you must configure the behavior when this limit is reached
in the section CC_ROCOSETAL function (Page 32).
8.1.2

Singular positions

Description
If the robot is in a singular position, then the compensation angle for one or several axes can
no longer be uniquely calculated. Shifting certain degrees of freedom at the TCP can no longer
be compensated. In the immediate proximity of a singular position, the compensation values
of the axes involved are scaled down to 0 and certain degrees of freedom are no longer
compensated.
You define the "safety margin" to singularity, from which point the compensation value is scaled
down, using channel data MC_CC_ROCO_POLE_DETECT_ANGLE [0...1].
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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