Kuka KR C2 - Product description; Overview of the robot controller

2 The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
Infinitely rotating axes are also limited, according to the gear ratio.
The software limit switches for rotational axes can only be set between [--358 degrees] and
[+358 degrees].
Infinitely rotating axes turn modulo 360 degrees, i.e. PTP {A6 3610} results in a motion of
A6 from 0 degrees to 10 degrees.
An infinitely rotating axis can move max. 180 degrees in a single motion block.
Example
In the example, external axis 7 is defined as a linear traversing unit, i.e. axis type 1:
$AXIS_TYPE[7]=1
The type of axis is not automatically defined by the definition of the main axis type.
In the case of a SCARA (#CC), axis 1 must be explicitly identified as a linear axis.
2.1.5 $COUP_COMP[ ]
Compensation of the mechanical coupling between the wrist axes
Data type frame
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [Ax,Ay]=Nn,Dn
An axis “m” is rotated through a defined angle and the angle change at axis “n” is measured.
$COUP_COMP= (reaction axis n)/(angle axis m)
2.1.6 $EXCOUP_COMP[ ]
Compensation of the mechanical coupling between the external axes
Data type frame
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [Ax,Ay]=Nn,Dn
Axis “m” is rotated through a defined angle and the rotation of axis “n” is measured.