Sinumerik

Question 1

Of wich two parts does the Sinumerik consist?

Answer 1

NCK (NC- kernel) and Sinumerik Operate

Question 2

What lives on the NCK?

Answer 2

Interpolation
.mpfs
MDs
Compensation
compiler cycles (e.g. our UCI)
NO(!) GUI

Question 3

Where does Operate run? And how are those two options called?

Answer 3

Either on (external) windows PC (PCU)
or on the Sinumerik itself (TCU, Linux)

Question 4

Where does our HMI run?

Answer 4

our HMI is a plugin for Operate

Question 5

what kind of file is our HMI?

Answer 5

linux: .so file, windows: .dll file

Question 6

How does one restart the NCK, and what reloads then?

Answer 6

PO reset -> RPCM reloads

Question 7

What gets reloaded with an HMI reset?

Answer 7

gui_configs

Question 8

Where does one find documentation about the UCI base?

Answer 8

Nextxloud, UCI base manual

Question 9

What do you have to think of when chosing an .mpf?

Answer 9

6- or 7 axes

Question 10

What part of the Sinumerik is used for calibration?

Answer 10

Operate

Question 11

what is RobX?

Answer 11

a compile cycle, which runs e.g. the inverse kinematics and other robot functions

Question 12

how does one find data in a sinumerik archive?

Answer 12

by using the sinumerik_archive script

Question 13

what 2 things do we use the sinumerik as?

Answer 13

1. robot server
2. RecalGUI

Question 14

what is TTCFL?

Answer 14

transformation from tool changer flange to active tool axis

Question 15

what is TFLWP?

Answer 15

transformation from last DH coordinate system (A5) to flange coordinate system

Question 16

what is TIRORO?

Answer 16

transformation from robot base coordinate system to A1/A2 intersection

Question 17

what is ROBX_EXT_AXIS_VECTOR_1/2/3?

Answer 17

transformation from robot base coordinate system to external axis

Question 18

what are the standard IPs of TCU and PCU?

Answer 18

TCU: 192.168.214.1
PCU: 192.168.214.241

Question 19

On what physical system does the PCU usually run?

Answer 19

an IPC next to the Sinumerik -> customers usually recognize it as part of the Sinumerik

Question 20

what is the file path for the gui configs on sinumerik?

Answer 20

/oem/sinumerik/hmi/ISIOS/appl

Question 21

How does one make a machine move through Sinumerik?

Answer 21

run a .mpf file or run commands through MDA

Question 22

How does one run MDA mode in Sinumerik?

Answer 22

Maschine -> MDA -> write Command -> cycle start

Question 23

How does one switch on and off our compensation in Sinumerik?

Answer 23

by activating movement in WCS, for that:
- TRAROI/TRAFOF in MDA

Question 24

Where does one find the compensation values in sinumerik?

Answer 24

Diagnostics -> Axis Diag -> Service Axis

Question 25

How to start troubleshooting wrong comp values in sinumerik?

Answer 25

PO-Reset check log in Diagnostics

Question 26

What is TC_DP?

Answer 26

Trafo from Tool carrier to tool tip

Question 27

How do you do an HMI reset?

Answer 27

Main menu (M) press arrow to the right HMI Reset

Question 28

How does one check if the UCI app/base is installed?

Answer 28

On Sinumerik, go to Setup->system data->NC data/compile cycles see if uci_XXXXXXifYYYYYY.elf appisios_XXXXXXifYYYYYY.elf is installed

Question 29

how does one create a sinumerik archive and how does one get it to the PC?

Answer 29

Setup->system data choose folder press >> create archive get through SCP at card/oem/sinumerik/data/archive

Question 30

what is the UCI installation workflow?

Answer 30

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

Question 31

How does one install an HMI on the Sinumerik?

Answer 31

get from Nextcloud/Release Versions/HMI... choose version follow readme.txt (requires copying files to sinumerik via scp)

Question 32

what is the path for compensation files on Sinumerik?

Answer 32

oem/sinumerik/oa/ISIOS

Question 33

what is CCRODI?

Answer 33

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)

Question 34

How do I figure out the operate Version of a Sinumerik?

Answer 34

Diagnostics -> Versions Everything above 4.9 (e.g. 6.22) runs as 4.9 on our side

Question 35

When does the UCI write spindles only to GUDs (and not to MDs)?

Answer 35

If the gripper names contains an array index (e.g. TOOL[14] )