Kuka KR C2 - Default Chapter; Table of Contents

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Maschinendaten 12.0400 en
Contents
1 Introduction 8.....................................................
1.1 Characteristics 8................................................................
1.2 System requirements 8...........................................................
1.2.1 Software 8......................................................................
1.2.2 Hardware 8.....................................................................
2 The file $MACHINE.DAT 9..........................................
2.1 Description of the individual machine data 9.........................................
2.1.1 $V_R1MADA[ ] 9................................................................
2.1.2 $TECH_MAX 9..................................................................
2.1.3 $NUM_AX 10....................................................................
2.1.4 $AXIS_TYPE[ ] 10................................................................
2.1.5 $COUP_COMP[ ] 11..............................................................
2.1.6 $EXCOUP_COMP[ ] 11...........................................................
2.1.7 $MAMES[ ] 12...................................................................
2.1.8 $ROBROOT 13..................................................................
2.1.9 $ERSYSROOT 14................................................................
2.1.10 $RAT_MOT_AX[ ] 15..............................................................
2.1.11 $RAT_MOT_ENC[ ] 16............................................................
2.1.12 $DSECHANNEL[ ] 16.............................................................
2.1.13 $PMCHANNEL[ ] 18..............................................................
2.1.14 $LOOP_LG_PTP[ ] 19............................................................
2.1.15 $LOOP_G_VEL_PTP[ ] 19.........................................................
2.1.16 $LOOP_I_VEL_PTP[ ] 20..........................................................
2.1.17 $LOOP_DIRECTION[ ] 20.........................................................
2.1.18 $SLAVE_LOOP_FOL_CRITICAL[ ] 20...............................................
2.1.19 $SLAVE_LOOP_FOL_ALARM[ ] 21.................................................
2.1.20 $SLAVE_LOOP_SPEED_ALARM[ ] 21..............................................
2.1.21 $SLAVE_LOOP_PMCHANNEL[Ln] 21...............................................
2.1.22 $LOOP_TYPE[Ln] 21.............................................................
2.1.23 $LOOP_TYPE_ATTRIBUTE[ ] 22...................................................
2.1.24 $MASTER_LOOP[Ln] 22..........................................................
2.1.25 $SLAVE_TORQUE_RATIO[ ] 23....................................................
2.1.26 $NINPUT_SENSORTYPE[Ln] 23...................................................
2.1.27 $NINPUT_SENSORCHANNEL[Ln] 24...............................................
2.1.28 $NINPUT_SUBCHANNEL[Ln] 24...................................................
2.1.29 $POSINPUT_SENSORTYPE[Ln] 25................................................
2.1.30 $POSINPUT_SENSORCHANNEL[Ln] 25............................................
2.1.31 $POSINPUT_SUBCHANNEL[Ln] 25................................................
2.1.32 $TORQINPUT_SENSORTYPE[Ln] 26...............................................
2.1.33 $LOOP_RAT_MOT_AX[ ] 26.......................................................
2.1.34 $LOOP_RAT_EXTPOS_AX[ ] 26...................................................
2.1.35 $MOTOR_POLE_NUMBER[ ] 27...................................................
2.1.36 $SERVOFILE_CONFIG[ ] 27.......................................................
2.1.37 $SERVOFILEKPS1[ ] 27..........................................................
2.1.38 $CURR_MAX[ ] 28................................................................
2.1.39 $CURR_CAL[ ] 28
................................................................
2.1.40 $CURR_LIM[i] 29.................................................................
2.1.41 $CURR_MON[i] 29...............................................................