Siemens SINUMERIK Series Function Manual page 54

Alarms
75416
Explanation
Response
Remedy
Delete criterion
75417
Explanation
Response
Remedy
Cancel/clear criterion
54
ROCO channel %1 torque feedforward control active with imper‐
missible parameterization in MD %2
Before activating the torque feedforward control by means of CC_ROCO or by setting the
GUD ROCO_FUNCTION, the torque feedforward control of the standard system must be
correctly parameterized.
The specified parameter can have the following values:
32650 The torque feedforward control of the standard system must be deactivated by deleting
MD $MA_AX_INERTIA.
32620 The feedforward control mode $MA_FFW_MODE must be set to 4.
13060 For torque feedforward control, the telegram type must be 136 or 138.
In addition, only the telegrams 136 and 138 are permissible for the robot axes.
--NOREADY--, --NONCSTART--, --SETVDI--, --SHOWALARM--
MD 32650 $MA_AX_INERTIA=0 for all axes handled by CC_ROCO
MD 32620 $MA_FFW_MODE=4 for all axes handled by CC_ROCO
Set MD 13060 $MN_DRIVE_TELEGRAM_TYPE to 136 or 138.
p1400 Bit 10 must be set in the drive parameter.
--RESETCLEAR--
ROCO channel %1 block %2 option %3 is not set
A CC_ROCO function is to be activated in the specified bock, but the associated option for
this function is not set, see also section CC_ROCO function (Page 29).
--NOREADY--, --NONCSTART--, --SETVDI--, --SHOWALARM--
Depending on the option name, the following must be done:
Accuracy - Set the "SINUMERIK Run MyCC / ROCO - Accuracy" option.
Productivity - Set the "SINUMERIK Run MyCC / ROCO - Productivity" option.
--RESETCLEAR--
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
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