Function Cc_Rocosetal - Siemens SINUMERIK Series Function Manual

Functions

7.4 Function CC_ROCOSETAL

You do not have to deactivate ROCO while updating the data.
NOTICE
Compensating motion
When activating the new tool data with CC_ROCOREREAD, the robot tool center point
executes compensatory motion.
This GUD data is also read-in after the configuration file has been read in.
A CC_ROCOREREAD is not necessary after CC_ROCOREAD.
Syntax
CC_ROCOREREAD()
Example
T12 D1 M6
ROCO_TOOL_MASS=350
CC_ROCOREREAD()
7.4 Function CC_ROCOSETAL
Description
Very large compensation values can occur when gravitational force or an external force is
actively compensated. In such a case ROCO limits the amount of the compensation value to
the value specified in the MD $MA_CC_ROCO_COMP_VAL_LIMIT. Alarm 75411 is output if
this limit value is reached.
The output of this alarm can be suppressed by programming CC_ROCOSETAL(0).
Syntax
CC_ROCOSETAL(<Parameter>)
Meaning
Parameter
<Parameter>:
32
; Changing the tool
; Mass of the new tool
; Updating the tool data
Meaning
0 Output of alarm 75411 is suppressed.
1 Output of alarm 75411 is reactivated when reaching the limit value.
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA