Kuka KR C2 - Rat_Mot_Enc[ ]; Dsechannel[ ]

Machine Data
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Maschinendaten 12.0400 en
2.1.11 $RAT_MOT_ENC[ ]
Motor/encoder ratio
Data type frame
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
In order to calculate the resolution, the ratio of the motor to the encoder must be specified
for each axis. For cyclical absolute encoders, the number of cyclical absolute periods per
revolution is defined.
$RAT_MOT_ENC[i]={N x,D y}
i = axis number
x = value of numerator N (i.e. motor)
y = value of denominator D (i.e. axis)
Example 1
Robot with a 6--pole resolver: (3 absolute ranges, each 120 degrees)
$RAT_MOT_ENC[i]={N 1,D 3}
2.1.12 $DSECHANNEL[ ]
Axis assignment on the DSE
Data type int
min
V
a
l
u
e
0
Unit []
V
a
l
ue
max
18
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
Until now, this variable has determined which of the 8 DSE channels is assigned to an axis
(An) (and thus also which slot on the RDC). With the new definition of this variable, a control
loop (“loop”) on the DSE is now assigned to an axis (An). There are 8 control loops
(corresponding to 8 channels) on the DSE.
In the case of master/slave configurations, the number of the master control loop is entered.
With the default robot configuration, axes 1--6 are consecutively assigned to channels 1--6
(and thus control loops 1--6) respectively. With standard configurations the meaning of this
variable thus remains unchanged.
The number of motor pole pairs should be the same as, or a multiple of, the number of
resolver pole pairs.