Kuka KR C2 - Slave_Loop_Fol_Alarm[ ]; Slave_Loop_Speed_Alarm[ ]; Slave_Loop_Pmchannel[Ln]; Loop_Type[Ln]

2 The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
2.1.19 $SLAVE_LOOP_FOL_ALARM[ ]
Deviation limit between master and slave
Data type real
min
V
a
l
u
e
-- --
Unit degrees, mm
V
a
l
ue
max
-- --
Assignment -- --
Shut--off threshold
If the following error exceeds the threshold value, PATH--MAINTAINING BRAKING is
triggered.
2.1.20 $SLAVE_LOOP_SPEED_ALARM[ ]
Max. speed deviation for torque--controlled slave drives
Data type real
min
V
a
l
u
e
-- --
Unit rpm
V
a
l
ue
max
-- --
Assignment -- --
Shut--off threshold
If the actual speed exceeds the threshold value, PATH--MAINTAINING BRAKING is
triggered. The value is specified in rpm.
2.1.21 $SLAVE_LOOP_PMCHANNEL[Ln]
Definition of the KPS module for slave control loops
Data type int
min
V
a
l
u
e
--
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$SLAVE_LOOP_PMCHANNEL[Ln]=y defines the KPS module connected to a slave control
loop. In the case of master loops, the value 0 must be entered as the assignment for these
control loops is already defined using $PMCHANNEL[An] (see above) and must not be taken
into consideration here.
2.1.22 $LOOP_TYPE[Ln]
Selection of the control loop type
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
4
Assignment -- --
$LOOP_TYPE[Ln]=y