Compensation Of An External Force - Siemens SINUMERIK Series Function Manual

Application examples
8.1 Compensation of external disturbing forces
Figure 8-6
8.1.4

Compensation of an external force

Description
You activate the compensation of an external disturbing force by calling CC_ROCO(2). The
following interfaces can be used to enter a disturbing force:
● When specifying using $A_DBR variables, then the system interprets that unit kN
(Kilonewton) is being used.
● When specifying using virtual axes in the part program, then the system interprets that unit
kN (Kilonewton) is being used.
The forces are added when both interfaces are used. In both cases the specified force refers
to the workpiece coordinate system (WCS).
40
Y
B
Z
B
X
B
GRAVITY VECTOR
[1 0 0]
Gravitational force compensation - robot mounted onto the wall
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA