Kuka KR C2 - Check RDC-DSE Communication

User Manual
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10.1.7 Check RDC--DSE communication
The RDC sends data words to the DSE in a 125 µs cycle. This function can be used to check
the communication between the DSE and the RDC.
Meaning of the values displayed in the message window:
-- Order: The last command the DSE has sent to the RDC.
-- Value: Motor temperatures of axes 1 to 8.
-- Error: Encoded display of the encoder error bits and EMT signals
Bit 15
Bit 14
Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
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EMT
Encoder error bits for the robot axes
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signals
A8 A7 A6 A5 A4 A3 A2 A1
-- Checksum: Checksum f or all transferred data.
-- Communication error state:
If more than three transmissions have failed, the value 0001 is displayed.
-- Communication error counter:
Sum of all incorrect transmissions since the last “Reset comm. errors”.
-- Axis nn: Displays the resolver positions of axis nn. The values vary during opera-
tion. If a resolver position has the value zero, there is an encoder error.
Softkey assignment:
-- Start continuous display
Start / stop the continuous updating of the display
-- R e f r e s h
T riggers a one--off update of the display