Kuka KR C2 - CI3 Standard board

Machine Data
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Maschinendaten 12.0400 en
2.1.32 $TORQINPUT_SENSORTYPE[Ln]
Force/torque input of the DSE control loop
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
$TORQINPUT_SENSORTYPE[Ln]=y
Like $NINPUT_SENSORTYPE for the force/torque input of the DSE control loop (Ln).
2.1.33 $LOOP_RAT_MOT_AX[ ]
Motor / drive gear ratio of the slave axis
Data type frame
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
Gear ratio (motor:axis) of a slave control loop.
The ratio (motor : rotary encoder) of the slave must be the same as that of the master .
Only for slave drives.
Example
$LOOP_RAT_MOT_AX[2]={N 20,D 1}
2.1.34 $LOOP_RAT_EXTPOS_AX[ ]
Ratio of the sensor gear
Data type frame
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
Gear ratio of the external position encoder of a control loop (possible for both master and
slave).
Example
$LOOP_RAT_EXTPOS_AX[1]={N --3,D 1}