Kuka KR C2 - Num_Ax

Machine Data
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Maschinendaten 12.0400 en
2.1.3 $NUM_AX
Number of axes in the robot system
Data type int
min
V
a
l
u
e
1
Unit -- --
V
a
l
ue
max
6
Assignment [1] axis 1 ... [6] axis 6
Example
The value for a robot system with six axes is entered as follows:
$NUM_AX=6
2.1.4 $AXIS_TYPE[ ]
Definition of the axis type
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
5
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The axis type of each axis used must be defined.
1 = LINEAR (e.g. linear traversing units)
The axis value is converted to millimeters.
A check is carried out for software limit switches.
2 = SPINDLE (special kinematics and spindle drives)
The axis value is converted to millimeters.
A check is carried out for software limit switches.
3 = ROTATIONAL (standard case: rotational axes; turning range from --358° to 358°)
The axis value is converted to degrees.
A check is carried out for software limit switches.
4 = Finitely rotating
The axis value is converted to degrees.
A check is carried out for software limit switches.
Finitely rotating axes are not implemented and must not be used.
5 = Infinitely rotating (e.g. robot axis 4 or 6)
The axis value is converted to degrees.