as mentioned, there a many settings without descriptions and reason is that users are not supposed to mess with them, should only follow recommendations after consulting KUKA. i mentioned elasticity just as an example. i don't know if and what effect it would have in your case and - it is something to discuss with KUKA. everything that users may need to be aware is in user documentation, other things are not disclosed for a reason and i don't have insight or into about things that are not disclosed. there is a lot of things in $DYN_DAT[] for example. btw. one of those values is used to enable or disable elasticity compensation. who knows what others may do...
mounting robot in different positions is not that rare, including offsets (tilted mount to preload A1 for example). therefore i would expect that gravity vector is used in any models that KSS uses. and i don't think that they have three different calculations (floor, ceiling, wall) for each of the models. i know i would not want to triple my work, it would make any support and improvements a complete nightmare.