Torque Precontrol - Siemens SINUMERIK Series Function Manual

N130 X1 F_Y=43
N140 X9
N150 X4 F_Y=-86
N160 X10
N170 G0 Z50
N180 M30
Force F_Y [kN]
Figure 8-11
8.2

Torque precontrol

For a robot, the axis moment of inertia depends very heavily on the pose. When activating the
"Torque precontrol" function using the CC_ROCO(48) operation, the axis moment of inertia is
calculated in the IPO clock cycle and used for the optimum precontrol of the acceleration torque
at the drives.
The following preconditions must be satisfied in order to activate the ROCO torque precontrol
in the robot axis:
● MA32620 FFW_MODE = 4
● MA32650 MA_AX_INERTIA = 0.
● p1400 – Bit10 = 1
● Use of telegram type 136/138/146/148 (MD13060)
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
N120
43 kN
9 mm
N100 N110
Program example
N140 N150
N130
9 mm 9 mm
Application examples
8.2 Torque precontrol
10 mm
Distance X [mm]
N160
43