Sinumerik Flashcards
Of wich two parts does the Sinumerik consist?
NCK (NC- kernel) and Sinumerik Operate
What lives on the NCK?
Interpolation
.mpfs
MDs
Compensation
compiler cycles (e.g. our UCI)
NO(!) GUI
Where does Operate run? And how are those two options called?
Either on (external) windows PC (PCU)
or on the Sinumerik itself (TCU, Linux)
Where does our HMI run?
our HMI is a plugin for Operate
what kind of file is our HMI?
linux: .so file, windows: .dll file
How does one restart the NCK, and what reloads then?
PO reset -> RPCM reloads
What gets reloaded with an HMI reset?
gui_configs
Where does one find documentation about the UCI base?
Nextxloud, UCI base manual
What do you have to think of when chosing an .mpf?
6- or 7 axes
What part of the Sinumerik is used for calibration?
Operate
what is RobX?
a compile cycle, which runs e.g. the inverse kinematics and other robot functions
how does one find data in a sinumerik archive?
by using the sinumerik_archive script
what 2 things do we use the sinumerik as?
- robot server
- RecalGUI
what is TTCFL?
transformation from tool changer flange to active tool axis
what is TFLWP?
transformation from last DH coordinate system (A5) to flange coordinate system
what is TIRORO?
transformation from robot base coordinate system to A1/A2 intersection
what is ROBX_EXT_AXIS_VECTOR_1/2/3?
transformation from robot base coordinate system to external axis
what are the standard IPs of TCU and PCU?
TCU: 192.168.214.1
PCU: 192.168.214.241
On what physical system does the PCU usually run?
an IPC next to the Sinumerik -> customers usually recognize it as part of the Sinumerik
what is the file path for the gui configs on sinumerik?
/oem/sinumerik/hmi/ISIOS/appl
How does one make a machine move through Sinumerik?
run a .mpf file or run commands through MDA
How does one run MDA mode in Sinumerik?
Maschine -> MDA -> write Command -> cycle start
How does one switch on and off our compensation in Sinumerik?
by activating movement in WCS, for that:
- TRAROI/TRAFOF in MDA
Where does one find the compensation values in sinumerik?
Diagnostics -> Axis Diag -> Service Axis
How to start troubleshooting wrong comp values in sinumerik?
PO-Reset
check log in Diagnostics
What is TC_DP?
Trafo from Tool carrier to tool tip
How do you do an HMI reset?
Main menu (M)
press arrow to the right
HMI Reset
How does one check if the UCI app/base is installed?
On Sinumerik, go to
Setup->system data->NC data/compile cycles
see if uci_XXXXXXifYYYYYY.elf appisios_XXXXXXifYYYYYY.elf is installed
how does one create a sinumerik archive and how does one get it to the PC?
Setup->system data
choose folder
press»_space;
create archive
get through SCP at card/oem/sinumerik/data/archive
what is the UCI installation workflow?
check for proper compile cycle versions on Sinumerik
create compensation file
make archive
copy uci base and uci app .elf file to Sinumerik via scp to NC Data/compile cycles
copy compensation file to sinumerik to NC Data/compile cycles/ISIOS
po reset
test
configure following http://172.16.0.1/isioswiki/index.php/UCI_Installation#Konfiguration
add help texts
How does one install an HMI on the Sinumerik?
get from Nextcloud/Release Versions/HMI…
choose version
follow readme.txt
(requires copying files to sinumerik via scp)
what is the path for compensation files on Sinumerik?
oem/sinumerik/oa/ISIOS
what is CCRODI?
A compile cycle to get compensation from a Kuka KRC to the Sinumerik. This can write to compensation temperature and sag, too which must be turned off (see manufacturere compensations)
How do I figure out the operate Version of a Sinumerik?
Diagnostics -> Versions
Everything above 4.9 (e.g. 6.22) runs as 4.9 on our side
When does the UCI write spindles only to GUDs (and not to MDs)?
If the gripper names contains an array index (e.g. TOOL[14] )
