Kuka KR C2 - Red_Acc_Emx[ ]; Warmup_Red_Vel

Machine Data
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Maschinendaten 12.0400 en
2.1.66 $RED_ACC_EMX[ ]
Reduction factor for path--maintaining Emergency Stop ramp
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
In the case of a normal Emergency Stop, the maximum current should not be exceeded,
otherwise the robot is no longer stopped on the path. The exact value can be determined
using the oscilloscope.
Path--maintaining E--Stop ramp [ms] = $RAISE_TIME[ms]/$RED_ACC_EMX[%]*100[%]
The corresponding axis should not be allowed to go into current limitation.
Default value = 100
Example
$RED_ACC_EMX[7]=100
$RED_ACC_EMX[8]=100
2.1.67 $WARMUP_RED_VEL
Warm--up functionality
Data type bool
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Example
W arm--up functionality activated:
$WARMUP_RED_VEL=TRUE