Noco; Dynamic Response Adaptation - Siemens SINUMERIK Series Function Manual

Application examples

8.4 Dynamic response adaptation

8.3 3D-NOCO
For three-dimensional "Nodding compensation", reaction forces in the robot structure are
compensated while an axis is accelerating. The compensation comprises 2 modules, which
can be activated independently of one another:
● compensation of the support torques using CC_ROCO(256):
When an axis accelerates, the accelerating force – and possibly the reaction force – act as
disturbing force for the other joints. An appropriate compensation is pre-controlled.
● Compensation of the compliance of the axis using CC_ROCO(512):
When an axis accelerates, initially, the "soft" drive train must be tensioned before the load
actually moves. The deviation between the motor and load is compensated using this model.
To compensate for the compliance of the axis itself, you must parameterize the moment of
inertia distribution in the drive train, and the compliance of the drive train using the axis machine
data:
● MA_CC_ROCO_AX_TORSION_STIFF: Torsional stiffness of the drive train
● MA_CC_ROCO_MOT_INERTIA: Motor-related moment of inertia
You must enter both variables on the load side.
8.4 Dynamic response adaptation
The dynamic response limits of an axis (maximum acceleration and maximum object) are
obtained from physical variables.
● The acceleration limit is calculated from the torque limit and maximum axis moment of
inertia.
● The maximum permissible jerk depends on the first natural frequency.
For a robot, the maximum moment of inertia and the minimum natural frequency are only
achieved in certain poses. However, to travel with the maximum dynamic response in all poses,
activate the "Dynamic response adaptation" function using the CC_ROCO(1024) operation.
The effective acceleration limit depends on the torque limit. You must parameterize this axis-
for-axis using axis machine data MA_CC_ROCO_MAX_AX_TORQUE. The limit that is entered
refers to the output of the gearbox.
The effective jerk limit refers to the axial jerk limit MA32431 MA_MAX_AX_JERK. The limit
parameterized at this location is applicable for the operating state in which the lowest natural
frequency is reached. The jerk limit is scaled-up if the lowest natural frequency lies higher.
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SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA