Function Cc_Rocoread - Siemens SINUMERIK Series Function Manual

Functions

7.2 Function CC_ROCOREAD

Meaning
Parameter
<Function parameter>: The parameter is bit-coded and is used to activate a ROCO function.
<Tracenr>:
Example
CC_ROCO(1)
...
CC_ROCO(0)
CC_ROCO(1+2+16+32+256)
7.2 Function CC_ROCOREAD
Description
You read in the configuration file using function CC_ROCOREAD. You must read in the
configuration file before you can activate functions using CC_ROCO.
30
Meaning
Bit decimal
0 1
1 2
2 4
4 16
5 32
8 256
9 512
10 1024
The functions assigned to bits 0 to 9 are contained in the "SINUMERIK Run MyCC /ROCO - Accu‐
racy" option.
The dynamic response adaptation is part of the "SINUMERIK Run MyCC /ROCO - Productivity"
option.
You deactivate all functions using a value of 0. A possible compensation value is then changed
back to 0.
Optional parameter to activate or deactivate a trace for diagnostic purposes.
1: Activates the trace function
0 : Deactivates the trace function and generates a trace file "trace1.mpf".
The file is in the same directory as the configuration file.
; Activate gravity compensation
; Deactivate gravity compensation
; Activate gravity compensation and an external
; force, activation of optimized precontrol and compensation of support
torques
Function
Gravitational force compensation
Compensation of an external force
Reserved
Precontrol of the torques
Optimized precontrol of the torques
Is assumed for 3D-NOCO (bit 8 and bit 9); can only be activated in
conjunction with bit 4 (recommended for 6-axis robots)
3D-NOCO compensation of the support torques
3D-NOCO applied to itself
Dynamic response adaptation
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA