Kuka KR C2 - CI3 Tech board

2 The file $MACHINE.DAT (continued)
31 of 91
Maschinendaten 12.0400 en
2.1.45 $KT_MOT[ ]
KT factor of the motors
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
This entry describes the motor characteristic in terms of the ratio between the torque and
the rated current at the nominal velocity.
Default value dependent on motor type.
2.1.46 $KT0_MOT[ ]
KT0 factor of the motors
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
This entry describes the motor characteristic in terms of the ratio between the torque and
the rated current at standstill.
Default value dependent on motor type.
2.1.47 $RAISE_TIME[ ]
Axis acceleration time
Data type real
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
$RAISE_TIME + $FILTER/2 is the time in ms in which the axis can be accelerated to its rated
speed ($VEL_AXIS_MA). ($FILTER is usually $DEF_FLT_PTP)
If the value is set too low, a corresponding error message is generated. This means that the
ramp is too steep and that the current limit is thus exceeded. This value can be determined
exactly using the oscilloscope.
Only used with non--KUKA kinematic systems with deactivated acceleration adaptation
($ADAP_ACC=#NONE) and deactivated higher motion profile ($OPT_MOVE=#NONE).
With KUKA standard robots, the accelerations are calculated according to the reach, the
specified load and the mass inertia. In this case, the times are only used for monitoring the
command acceleration.