Kuka KR C2 - Electronic Safety Circuit (ESC) safety logic

2 The file $MACHINE.DAT (continued)
23 of 91
Maschinendaten 12.0400 en
Valid values for $MASTER_LOOP are:
y
1--8 (1--9) Control loop number of the master (only DSE no. 1)
10--17 (10--18) Control loop number of the master (only DSE no. 2)
Master and slave loops cannot be distributed over two DSEs.
2.1.25 $SLAVE_TORQUE_RATIO[ ]
Torque--controlled slave: ratio between command torque and slave/master
Data type real
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
5
Assignment -- --
This variable specifies the torque (or command current!) for the slave relative to the master.
It is only required for the control loop of a torque--controlled slave (“Slave Torq”).
2.1.26 $NINPUT_SENSORTYPE[Ln]
Sensor type for the speed input
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
5
Assignment -- --
$NINPUT_SENSORTYPE[Ln]=y defines the sensor type for the speed input of the DSE
control loop (Ln). This describes the hardware connection.
Valid values for $NINPUT_SENSORTYPE are:
y
1 Sensor (resolver) connected to RDC
2 Sensor with external resolver box connected via CAN--KSD and servo bus
3 Incremental encoder connected via CAN--KSD and servo bus
4 Servo bus encoder with IBS K3 protocol (multiple/single incremental encoder)
5 Servo bus encoder with IBS K2 protocol (multiple/single incremental encoder)