Siemens SINUMERIK Series Function Manual page 39
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To compensate for the force due to weight, the model supplemented by the tool mass and
additional mass applies (Section Adapting the machine model (Page 23)).
You enter the direction of the force due to weight using channel parameter
MC_CC_ROCO_GRAVITY_VECTOR[0...2]. You enter the vector referred to the basis
coordinate system. The vector does not have to be a unit vector.
Note
The respective robot type must be suitable for wall or ceiling mount and have been approved
by the manufacturer for this type of installation.
Figure 8-5
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Z
B
Y
B
X
Gravitational force compensation - robots mounted on the floor
8.1 Compensation of external disturbing forces
GRAVITY VECTOR [0 0 -1]
B
Application examples
39
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