Kuka KR C2 - Digital servo-electronics (DSE-IBS-C33)

Machine Data
18 of 91
Maschinendaten 12.0400 en
2.1.13 $PMCHANNEL[ ]
Selection of the KPS
Data type int
min
V
a
l
u
e
20
Unit []
V
a
l
ue
max
34
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
$PMCHANNEL[An]
This variable defines which KPS is used to drive the axis (An). The meaning remains
unchanged.
In the case of master/slave configurations with several KPSs for master and slave axes, only
the assignment of the master axis is entered here. For slave axes, the KPS is defined using
the variable $SLAVE_LOOP_PMCHANNEL (see below).
Assignment of the axes to the drive interfaces of a single KPS.
The following applies for robot axes 1 to 6:
$PMCHANNEL[1]=20
$PMCHANNEL[2]=20
$PMCHANNEL[3]=20
$PMCHANNEL[4]=20
$PMCHANNEL[5]=20
$PMCHANNEL[6]=20
The following applies for external axes 7 and 8:
$PMCHANNEL[7]=21
$PMCHANNEL[8]=21
Example
Axis 4 uses the first channel of the second KPS.
PMCHANNEL[4]=22
The following applies for the first DSE--IBS:
$PM_CHANNEL[]=20 1st KPS
$PM_CHANNEL[]=22 2nd KPS
$PM_CHANNEL[]=24 3rd KPS
$PM_CHANNEL[]=26 4th KPS