Functions; Function Cc_Roco - Siemens SINUMERIK Series Function Manual

Functions

Using the ROCO compile cycle, you expand the language scope of SINUMERIK 840D sl to
include the subsequently described functions.
7.1

Function CC_ROCO

Description
Using the CC_ROCO function, you can activate or deactivate individual functions of the robot
compensation. Before the first activation, you must import a configuration file with the
CC_ROCOREAD instruction. The compensation and each precontrol is calculated based on
the mechatronic model for each pose in the IPO clock cycle.
Deactivate the precontrol of the standard system by setting MD MA_AX_INERTIA=0.
You can simultaneously start a trace when switching on. The trace records the axis positions
when first reaching the limit value $MA_CC_ROCO_COMP_VAL_LIMIT. The trace file also
includes the data for internally managing the ROCO memory.
Syntax
CC_ROCO(<Function parameter>[,<Tracenr>])
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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