Axial Machine Data - Siemens SINUMERIK Series Function Manual

Machine data

9.3 Axial machine data

62828 CC_ROCO_POLE_DETECT_ANGLE
Description:
A value is calculated for each axis that is used as criterion for the "Safety margin" to singularity.
If this "safety margin" lies below threshold "thetalim", then 0 is written to the compensation angle
If this "safety margin" lies between the "thetalim" and "thetawarn" thresholds, then the compensation angle is interpolated
down to 0.
The singularity check is not always performed. It is only performed for robot model types ~=0.
The check is carried out depending on the specific robot model.
The following assignment applies
[0] thetalim
[1] thetawarn
System Dimension
Standard 2
62829 CC_ROCO_FILTER_FREQUENCY
FREQU Filter frequency
Description:
The filter frequency for function 3D-NOCO can be set for each compensation axis using this MD.
System Dimension
Standard 6
62830 CC_ROCO_FILTER_DAMPING
Filter damping
Description:
The filter damping for function 3D-NOCO can be set for each compensation axis using this MD.
System Dimension
Standard 6
9.3 Axial machine data
63640 CC_ROCO_COMP_VAL_LIMIT
POSN Limit value for the absolute compensation value
Description:
This machine data specifies the absolute limit for the compensation value to be output.
When exceeded, this limit value is output as compensation value and Alarm 75411 is displayed.
System Dimension
Standard
48
Default value Minimum value
1, 5 0
Default value Minimum value
20, 20, 20, 20, 0.01
20, 20
Default value Minimum value
0.9, 0.9, 0.9, 0.001
0.9, 0.9, 0.9
Default value Minimum value
1.0 0
00.00.00
Maximum value Protection
10 7/2
00.00.00
NEW CONF
DOUBLE
Maximum value Protection
2000 7/2
00.00.00
NEW CONF
DOUBLE
Maximum value Protection
1000 7/2
00.00.00
RESET
DOUBLE
Maximum value Protection
99999.999 7/2
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Class
M
Class
M
Class
M
Class
M