Kuka KR C2 - Overview of CI3 boards

2 The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
Valid values for $NINPUT_SUBCHANNEL with “sensor type 2” are:
y=1--4
y: resolver channel; 1: CAN master*
* The “CAN master” is responsible for synchronization of the resolver box with the servo bus.
A CAN master must be defined for each resolver box. It is not possible to connect more than
one CAN master to a single resolver box. The sequence of the information from the resolver
slots is by definition always identical to the sequence of the KSDs with CAN--RDC in the servo
bus!
Each CAN channel may be specified only once.
2.1.29 $POSINPUT_SENSORTYPE[Ln]
Position input of the DSE control loop
Data type int
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$POSINPUT_SENSORTYPE[Ln]=y
Like $NINPUT_SENSORTYPE for the position input of the DSE control loop (Ln).
2.1.30 $POSINPUT_SENSORCHANNEL[Ln]
Position input of the DSE loop
Data type int
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$POSINPUT_SENSORCHANNEL[Ln]=y
Like $NINPUT_SENSORCHANNEL for the position input of the DSE control loop (Ln).
Additional laser sensor:
The SENSORCHANNEL defines the laser sensor in the servo bus ring from which the
position information is received.
2.1.31 $POSINPUT_SUBCHANNEL[Ln]
Position input of the DSE control loop
Data type int
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$POSINPUT_SUBCHANNEL[Ln]=y
Like $NINPUT_SUBCHANNEL for the position input of the DSE control loop (Ln).