Kuka KR C2 - Warmup_Time; Cooldown_Time; Warmup_Curr_Limit; Warmup_Min_Fac

2 The file $MACHINE.DAT (continued)
39 of 91
Maschinendaten 12.0400 en
2.1.68 $WARMUP_TIME
W arm--up time of the gears
Data type real
min
V
a
l
u
e
-- --
Unit min
V
a
l
ue
max
-- --
Assignment -- --
If the gear units are very cold, the increased friction means that there is insufficient motor
torque available for motion with high acceleration and speed.
This function makes it possible for the robot not to shut down on reaching the motor limits
during the time defined in WARMUP_TIME, but merely to move more slowly.
As long as the robot is considered cold, the motor currents are monitored for all PTP motions.
As soon as the current for one axis is greater than the maximum current specified in
$W ARMUP_CURR_LIMIT, an internal override is multiplied by the factor
$W ARMUP_MIN_F AC in order to reduce the motor currents.
This internal override is subsequently reset to 100% in several steps
($WARMUP_SLEW_RATE).
2.1.69 $COOLDOWN_TIME
Cool --down time
Data type real
min
V
a
l
u
e
-- --
Unit min
V
a
l
ue
max
-- --
Assignment -- --
2.1.70 $WARMUP_CURR_LIMIT
Monitoring value of the max. motor current
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
2.1.71 $WARMUP_MIN_FAC
Min. factor applied to the den override
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
2.1.72 $WARMUP_SLEW_RATE
Factor by which the internal override is increased
Data type real
min
V
a
l
u
e
-- --
Unit %/s
V
a
l
ue
max
-- --
Assignment -- --