After a lot of reading it is still not entirely clear to me how to set acceleration and velocity for CP or PTP moves (KRC4, 8.3.32).
So far i found that $ACC.CP defines the TCP acceleration and axis-wise accelerations seem to be set with $ACC_AXIS[1...6] in deg/sec.
Likewise $VEL.CP and $VEL[1...6] define the respective velocities.
How do the values in $ACC and $ACC_AXIS relate?
Is $ACC ($VEL) used for CP moves and $ACC_AXIS ($VEL_AXIS) for PTP moves?
If my assumption for (1) is correct: can a definitive ( e.g. m/s or m/s²) acceleration be set for PTP moves?
Am i correct that just writing to these values à la "$VEL.CP = 1.2" is a valid way to change acceleration or velocity for the next LIN/PTP?
What is the difference between the "swivel" and "rotation" values ORI1/2 in $ACC and $VEL?
Or: What is the difference between swivel and rotation? Both translates to the same in german with a standard web-translator