Extended Diagnostics; Switching Off Roco; Value For Compensation And Inertia Matrix; Diagnostics Of The Memory Management - Siemens SINUMERIK Series Function Manual

Extended diagnostics

11.1

Switching off ROCO

Normally, you deactivate ROCO functions using a part program command CC_ROCO(0). If
the control is in a state that prevents a part program from being started, then you can also
switch off ROCO by setting the channel-specific GUD variable ROCO_FUNCTION=0.
11.2

Value for compensation and inertia matrix

The following table lists the GUD variables that are written to when the ROCO function is active.
For diagnostics, these GUD variables must be created in the MGUD.DEF block and the
controller must be started up again.
GUD name
ROCO_THETA
ROCO_COMP_VAL
ROCO_FMOT
ROCO_JMOT
ROCO_JM
11.3

Diagnostics of the memory management

The following table lists the diagnostic variables of the memory management. For diagnostics,
these GUD variables must be created in the MGUD.DEF block and the controller must be
started up again.
GUD name
ROCO_MEM_LAST_BLOCK
ROCO_MEM_LOWEST
ROCO_MEM_USAGE
At the shortest length of the last block, you can read-off how much memory of the reserved
memory still remains. The reserved heap memory can be reduced by this value.
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Data type Meaning
REAL[6] Axis value at the input of the algorithm [°]
REAL[6] Compensation values of all axes [°]
REAL[6] Calculated force values of the axes as a result of gravitational
or external force [Nm]
REAL[6] Main elements of inertia [kgm²]
REAL[6,6] Inertia matrix [kgm²]
Data type Meaning
INT Actual length of the last memory block in bytes
INT Shortest length of the last memory block in bytes
REAL Ratio of the used memory to the reserved memory in
bytes
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