Machine Data - Siemens SINUMERIK Series Function Manual

Machine data

9.2 Channel-specific machine data
62820 CC_ROCO_ADBR_START_INDEX
System Dimension
Standard 2
62821 CC_ROCO_FORCE_AXIS_INDEX
Index of the virtual axes to enter the disturbing force
Description:
This MD contains the indices of the channel axes used for specifying a disturbing force in the part program. The axes involved
should be commissioned as virtual axes. The specification of the disturbing force refers to the WCS. The axis positions are
effective in kN (unit). A separate, virtual axis is used for each coordinate direction.
System Dimension
Standard 3
62822 CC_ROCO_HEAP_MEM
Heap memory for ROCO in kB
Description:
The user heap memory must be available to locally manage the ROCO memory. To start, for all active compile cycles, the
shared heap memory must be entered into MD 28105 $MC_MM_NUM_CC_HEAP_MEM.
Of these, CC_ROCO only uses the amount specified in MD $MC_CC_ROCO_HEAP_MEM.
Recommended setting for 6-axis robots: CC_ROCO_HEAP_MEM = 7000
System Dimension
Standard
62823 CC_ROCO_JMOT_AXIS_PER_CYCLE
Number of moment of inertia terms that are calculated in each IPO
clock cycle
Description:
Calculating the axis moments of inertia in Jmot takes up a lot of CPU time. This MD specifies for how many axes the values
in Jmot should be calculated for each clock cycle. Only relevant for CC_ROCO(16) - and not for CC_ROCO(48).
Recommended setting: CC_ROCO_JMOT_AXIS_PER_CYCLE = 6
System Dimension
Standard
62824 CC_ROCO_JERK_FACTOR_AT_LIM
Scaling jerk limiting before the software limit switch
Description:
In the main run, in each IPO clock cycle, a check is made as to whether the axis with the set acceleration comes to a standstill
in plenty of time before the software limit switch.
This MD specifies the maximum jerk that may be applied to reduce the adapted acceleration to zero before the limit switch.
46
Default value Minimum value
-1, -1 -1
Default value Minimum value
0, 0, 0 0
Default value Minimum value
7000 3000
Default value Minimum value
6 1
00.00.00
Maximum value Protection
32400 7/2
00.00.00
RESET
DWORD
Maximum value Protection
20 7/2
00.00.00
POWER ON
DWORD
Maximum value Protection
10000 7/2
00.00.00
RESET
DWORD
Maximum value Protection
6 7/2
00.00.00
RESET
DOUBLE
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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