Kuka KR C2 - CI3 Bus board

2 The file $MACHINE.DAT (continued)
29 of 91
Maschinendaten 12.0400 en
2.1.40 $CURR_LIM[i]
Current setpoint limit
Data type int
min
V
a
l
u
e
1
Unit %
V
a
l
ue
max
100
Assignment Axis number
The current setpoint defines the maximum permissible motor current and thus also defines
the torque limit. This value is entered as a percentage of the maximum KSD current.
The following relationship exists between the machine data:
$CURR_LIM[i]= (max. motor current I
max
/ $CURR_MAX[i]) x 100
$CURR_LIM[i]=K
i = axis number
K = current limit
Example
For a motor of type E with a KSD1--08, the following applies:
$CURR_LIM[ ]= (7.3 / 8) x 100 = 91
If the motor current is set too high, this can result in damage to the gear unit
or demagnetization of the permanent magnets in the motors.
2.1.41 $CURR_MON[i]
Permissible standstill current of the motor
Data type real
min
V
a
l
u
e
-- --
Unit A
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
Specification of the permissible standstill current of the motor for axis i.
If the value is set too high, this can cause the motor cable or the motor itself
to overheat.