Kuka KR C2 - Motor_Pole_Number[ ]; Servofile_Config[ ]; Servofilekps1[ ]

2 The file $MACHINE.DAT (continued)
27 of 91
Maschinendaten 12.0400 en
2.1.35 $MOTOR_POLE_NUMBER[ ]
Number of pole pairs of the motor
Data type int
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
This machine datum is used exclusively for KUKA--internal development purposes.
Default value: 3
2.1.36 $SERVOFILE_CONFIG[ ]
Configuration file for motor/KSD combination
Data type char
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
The servo file entered must be located in the R1/MADA directory.
For each permissible motor/KSD combination there is a special configuration file which must
be entered in the machine data:
Example
Axis 1 is driven by a motor of type B (S=Siemens) and controlled using a KSD1--32:
CHAR $SERVOFILE1[16]
$SERVOFILE1[]=“KSD_32_MB_S”
2.1.37 $SERVOFILEKPS1[ ]
Servo file KPS1 DSE1
Data type char
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
For each KPS there is a configuration file which must be entered in the machine data: