Kuka KR C2 - CI3 Extended board

Machine Data
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Maschinendaten 12.0400 en
The servo file entered must be located in the R1/MADA directory.
Example
First KPS of type 600_20 on the first DSE:
$SERVOFILEKPS1[] = “KPS_600_20”
2.1.38 $CURR_MAX[ ]
Maximum KSD current
Data type real
min
V
a
l
u
e
8
Unit A
V
a
l
ue
max
64
Assignment -- --
Maximum effective current at the KSD output.
$CURR_MAX[i]=K
i = axis number
K = max. KSD current (A
rms
)
KSD type
KSD
1--64
KSD
1--48
KSD
1--32
KSD
1--16
KSD
1--08
$CURR_MAX[ ] 64 48 32 16 8
Example
Axis 7 is controlled using a KSD1--48:
$CURR_MAX[7] = 48
2.1.39 $CURR_CAL[ ]
KSD current calibration
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment -- --
In the KR C2, $CURR_CAL[i] always has the value 1.
$CURR_CAL[i]=K
i = axis number
K = current factor