Kuka KR C2 - Page 75

11 Oscilloscope (continued)
75 of 86
BetrHbKRC2FL--USA--Fehler 11.04.00 en
Explanation of the individual values:
Values to record Meaning
Bus voltage PM1 Power module 1
Bus voltage PM2 Power module 2
Command value
1)
Command value from the interpolator per position control
cycle
Actual value
1)
Actual value per position control cycle
Following error
1)
Difference between command position and actual posi-
tion
Command velocity
1)
At the position controller output
Actual velocity
1)
Motor speed
Actual current
1)
Current sensors
Motor temperature
1)
In increments
Resolver
1)
Encoder position
Command current
1)
At the speed controller output
Torque differential
1)
Value calculated from the command/actual current
1)
For each of the channels 1...8