Kuka KR C2 - Description of the power unit

Machine Data
32 of 91
Maschinendaten 12.0400 en
The corresponding axis must not be allowed to go into current limitation during
measurement and should not exceed 90% of Imax.
Normal values = 300 to 1000 ms
Default value = 500 ms
2.1.48 $RAISE_T_MOT[ ]
Motor acceleration time
Data type real
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The entry “$RAISE_T_MOT[ ]” defines the time taken for the motor to accelerate to the rated
speed without an axis. These data are incorporated in the calculation of the dynamic model
and monitored.
Default value = 5.0
Example
$RAISE_T_MOT[7]=5.0
$RAISE_T_MOT[8]=5.0
The motor speed must be lower than the maximum frequency (266 Hz) of the RDC.
2.1.49 $VEL_AXIS_MA[ ]
Rated motor speed
Data type real
min
V
a
l
u
e
-- --
Unit rpm
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The rated speed of the axis motor is defined here. This maximum speed is reached with
override set to 100%. It is possible to reduce the axis traversing velocity.
Example
The drive motor of axis 7 is to have a rated speed of 1500 rpm:
$VEL_AXIS_MA[7]=1500.0