Kuka KR C2 - Loop_Type_Attribute[ ]; Master_Loop[Ln]

Machine Data
22 of 91
Maschinendaten 12.0400 en
This variable specifies the control loop type (Ln). Control loop type 4, for example, indicates
a control loop with 2 KSDs connected in parallel to a single motor with a double winding. The
main winding is commutated by a master (type 1), and the parallel winding by a slave (type 4).
The following values are possible:
y
1 Master control loop
2 Control loop of a position--controlled slave (“Slave Pos”)
3 Control loop of a torque--controlled slave (“Slave Torq”)
4 Control loop for parallel winding with 2 KSDs connected in parallel to a single motor
6 Force control, servo gun force control
In the case of 2 KSDs connected in parallel to a single motor, it is not possible to connect
the resolver of the motor to a CAN bus.
2.1.23 $LOOP_TYPE_ATTRIBUTE[ ]
Additional characteristics of the control loop
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
18
Assignment -- --
Bit array!
Required for certain Loop_types (currently only $Loop_type[Ln]=5) for the detailed
definition of linked characteristics.
Default value = 0
This machine datum is used exclusively for KUKA--internal development purposes.
2.1.24 $MASTER_LOOP[Ln]
Selection of the higher--level master control loop
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
18
Assignment -- --
$MASTER_LOOP[Ln]=y
In the case of slave control loops, this variable indicates the number of the higher--level
master control loop. The permissible combinations are described in the documentation about
the master/slave functions.