Machine Data; General Machine Data; Channel-Specific Machine Data - Siemens SINUMERIK Series Function Manual

Machine data

After it has been activated, the ROCO compile cycle generates channel-specific and axial
machine data.
9.1

General machine data

60945 $MN_CC_ACTIVE_IN_CHAN_ROCO
Activation
Description:
$MN_CC_ACTIVE_IN_CHAN_ROBX[0]: Activating the CC ROCO compile cycle in the nth channel:
Bit 0: 1st channel
Bit 1: 2nd channel
...
Bit 9: 10th channel
System Dimension
Standard 3
9.2

Channel-specific machine data

62820 CC_ROCO_ADBR_START_INDEX
Start index for $A_DBR parameters that are used
Description:
To enter an external force, users must either program this as positions of virtual axes - or it must be written to the $A_DBR
parameter.
This MD specifies the start index of 3 $A_DBR parameters, which are used for the external force. The indices, which are
saved for keyword FDIST, act relative to this start index. The specification of the disturbing force refers to the WCS. The unit
of the force is kN.
The 2nd element specifies the start index of the parameters to which diagnostic values are output in the IPO clock cycle.
The first six parameters contain the actual position of the robot axes. The next six values contain the current compensation
value Xmot_vec in degrees or mm. The next six parameters contain the associated value for Fmot.
If bit 4 was set when calling CC_ROCO, then six additional parameters contain the associated value for Jmot.
If bits 4 and 5 were set when calling CC_ROCO, then six additional parameters contain the first natural frequency of the
robot axis calculated from the model.
Notice:
The permissible indices in $A_DBR must always be an integer multiple of 4; as a consequence, it is only permissible that
integer multiples of 4 are entered in this MD, e.g. 0, 4, 8, 12, ....
Further, the value of -1 indicates that $A_DBR parameters should not be accessed.
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Default value Minimum value
0 0
00.00.00
POWER ON
DWORD
Maximum value Protection
0xFFFFFFFFH 7/2
00.00.00
RESET
DWORD
9
Class
M
45