Kuka KR C2 - Bounce_Time; Vel_Ax_Jus[ ]; Sen_Del[ ]

2 The file $MACHINE.DAT (continued)
41 of 91
Maschinendaten 12.0400 en
2.1.75 $BOUNCE_TIME
Bounce time for EMT signals
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment -- --
The signal is only accepted if it remains stable for the whole period defined in
$BOUNCE_TIME.
2.1.76 $VEL_AX_JUS[ ]
Velocity for EMT mastering
Data type real
min
V
a
l
u
e
-- --
Unit mm/s, degrees/s
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
This entry defines the velocity at which a particular axis moves during EMT mastering. The
user can thus set the velocity in such a way that the EMT can detect the reference notch
reliably. The vertical velocity required by the EMT should be ±250
mm/s.
Default value = 0.1
2.1.77 $SEN_DEL[ ]
Distance traveled by EMT during signal propagation delay
Data type int
min
V
a
l
u
e
-- --
Unit increments
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$SEN_DEL[ ]” is the distance covered between detection of the mastering notch and output
of the signal to the controller , i.e. the distance covered during the signal propagation delay.
Entry for the difference between EMT and dial mastering for the “same” mastering position.
Default value = 0