Kuka KR C2 - Power supply unit KPS 600

2 The file $MACHINE.DAT (continued)
33 of 91
Maschinendaten 12.0400 en
2.1.50 $VEL_CPT1_MA
Reduction factor for CP motions in T1
Data type int
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
2.1.51 $VEL_DSE_MA[ ]
Axis--specific velocity monitoring limits
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
Actual speed monitoring on the DSE.
v_ist_max = v_soll_max*$VEL_DSE_MA/100
v_soll_max is the currently valid command velocity limit
2.1.52 $AXIS_RESO[ ]
Resolution of the measuring system
Data type int
min
V
a
l
u
e
-- --
Unit increments
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
This entry defines the resolution (pulse count) of an encoder:
G per encoder revolution (for incremental and absolute encoders).
G per absolute cyclic range (e.g. for multi--pole resolvers).
Default value:
G 4096 for KR C2
Example
The default value 4096 is entered for axis 7:
$AXIS_RESO[7]=4096