Siemens SINUMERIK Series Function Manual page 36
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Application examples
8.1 Compensation of external disturbing forces
Scaling factor [1]
Figure 8-1
Example 1: Axis 5 at 0°
Figure 8-2
36
1
0
CC_ROCO_POLE_DETECT_ANGLE[1]
CC_ROCO_POLE_DETECT_ANGLE[0]
Compensation of external disturbing forces
Alpha 5 singularity - axis 4 and axis 6 are collinear and parallel
Clearance to the singularity [°]
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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