Siemens SINUMERIK Series Function Manual page 47

62824 CC_ROCO_JERK_FACTOR_AT_LIM
System Dimension
Standard
62825 CC_ROCO_ADAPT_ACCEL_LIMIT
Acceleration limit for adaptation
Description:
Minimum and maximum values for the acceleration when adapting the acceleration using the pose.
System Dimension
Standard 2
62826 CC_ROCO_ADAPT_JERK_LIMIT
Jerk limit limit for adaptation
Description:
Minimum and maximum values for the jerk when adapting the jerk using the pose.
System Dimension
Standard 2
62827 CC_ROCO_GRAVITY_VECTOR
Direction vector for the gravitational force
Description:
Direction vector for the gravitational force referred to the BCS. If the robot is mounted on the floor, and the Z axis of the BCS
points upward, then vector [0 0 -1] should be entered.
The component of the gravitational force results from the product of the MD with the mass of the model body and constant
9.81.
No unit vector is expected or the vector is standardized internally.
System Dimension
Standard 3
62828 CC_ROCO_POLE_DETECT_ANGLE
ANGLE Threshold for handling singularity
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Default value Minimum value
10.0 1
Default value Minimum value
1.0, 20.0 0.01
Default value Minimum value
0.5, 20.0 0.01
Default value Minimum value
0, 0, -1
9.2 Channel-specific machine data
00.00.00
Maximum value Protection
100 7/2
00.00.00
RESET
DOUBLE
Maximum value Protection
100 7/2
00.00.00
RESET
DOUBLE
Maximum value Protection
200 7/2
00.00.00
RESET
DOUBLE
Maximum value Protection
7/2
00.00.00
RESET
DOUBLE
Machine data
Class
M
Class
M
Class
M
Class
M
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