Kuka KR C2 - ESC nodes

Machine Data
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Maschinendaten 12.0400 en
2.1.27 $NINPUT_SENSORCHANNEL[Ln]
Channel number of the speed input for the DSE loop
Data type int
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$NINPUT_SENSORCHANNEL[Ln]=y for RDC--commutated motors:
Defines the channel number (y) of the speed input for the DSE loop (Ln). Each channel
number may be specified only once. The $NINPUT_SENSORCHANNEL channel number
should be the same as the DSE channel number in order to avoid confusion during
configuration. A different assignment would be technically possible, however.
For CAN--RDC--commutated motors:
Defines the KSD--SBM in the servo bus ring from which the NINPUT information is received.
Other devices, such as the KPS, are not counted as KSD--SBMs.
This is necessary as the NINPUT and POSINPUT information of a control loop may come
from different KSDs.
2.1.28 $NINPUT_SUBCHANNEL[Ln]
Sub--channel for speed channel of a DSE control loop
Data type int
min
V
a
l
u
e
1
Unit []
V
a
l
ue
max
4
Assignment -- --
$NINPUT_SUBCHANNEL[Ln]=y This variable can be used to define a “sub--channel” for
each speed channel of a DSE control loop (Ln). This can be used for a more detailed
definition, for example, if an encoder supplies different values on a single channel. The value
0 must be entered if this variable is not required.
RDC--commutated motors:
The SUBCHANNEL is not required; the value 0 must be entered.
CAN--RDC--commutated motors:
If the encoder is connected via external resolver box, CAN and servo bus (“sensor type 2”),
the resolver channel, i.e. the number of the slot on the external resolver box (“CAN--RDC”),
is set here. Only the slot on the CAN--RDC need be specified here, as the specification of
which CAN--RDC is connected to the motor is defined by the position in the servo bus. An
additional CAN--RDC must be connected after each KPS (see example 3).