Siemens SINUMERIK Series Function Manual page 25

Variable name
ROCO_TC_FLANGE
ROCO_TOOL_MASS
Robot
flange
Figure 6-2
Example of a single-part tool
Figure 6-3
ROCO_TC_MASS = 23
ROCO_TC_COG = [0 0 -200]
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Dimension
3
1
X
FL
Z
FL
+
Mass of the second
tool part
ROCO_TOOL_MASS
Parameterization of the tool properties
Z
FL
Example of a single-part tool
6.3 Parameterization of the tool properties
Unit Meaning
mm For the single-part tool:
Tool center point coordinates in the flange
coordinate system.
For the two-part tool:
Coordinates of the tool adapter point in the
tool coordinate system
kg Mass of the second tool part (if applicable)
Mass and main diagonals of the inertia tensor
ROCO_TC_MASS
ROCO_TC_INERTIA (J
Center of gravity of
Y
the tool carrier
FL
ROCO_TC_COG (X, Y, Z)
+
Tool adapter
ROCO_TC_FLANGE (X, Y, Z)
X
FL
L1
250
Adapting the machine model
, J , J )
x y z
X
FL
Z
FL
+
ROCO_TC_COG (X, Y, Z)
ROCO_TC_FLANGE (X, Y, Z)
+
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