Kuka KR C2 - Page 17

2 The file $MACHINE.DAT (continued)
17 of 91
Maschinendaten 12.0400 en
Valid values for $DSECHANNEL are:
Loop
0 Channel not used
1--8 (1--9) 8 control loops on DSE no. 1 (+spare channel 9)
10--17 (10--18) 8 control loops on DSE no. 2 (+spare channel 18)
Each control loop number may be specified only once.
This entry defines which DSE channel is to be used by the axis.
There are eight channels available on the first DSE. With a standard robot, channels 7 and
8 can thus be used for external axes.
The RDC inputs are also defined using “$DSECHANNEL”.
For unused axes, $DSECHANNEL[ ] = 0 must be entered.
$DSECHANNEL[i]=K
i = robot axis
K = DSE channel and RDC channel
Example
Axes 1 and 2 occupy DSE channels 1 and 2 and slots X1 and X2 on the RDC card;
axis 7 occupies DSE channel 3 and slot 3 on the RDC card:
$DSECHANNEL[1]=1
$DSECHANNEL[2]=2
$DSECHANNEL[3]=0
$DSECHANNEL[4]=0
$DSECHANNEL[5]=0
$DSECHANNEL[6]=0
$DSECHANNEL[7]=3