Kuka KR C2 - L_Emt_Max[ ]; G_Vel_Cal; Lg_Ptp[ ]

Machine Data
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Maschinendaten 12.0400 en
2.1.78 $L_EMT_MAX[ ]
Maximum length of EMT mastering travel
Data type real
min
V
a
l
u
e
-- --
Unit degrees, mm
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
This is the maximum length of the EMT mastering path. If this path is exceeded, a
corresponding message is generated and the mastering process is aborted.
Formula:
$L_EMT_MAX = 8 / 5 * EMT_path
2.1.79 $G_VEL_CAL
Velocity factor for speed controller gain
Data type real
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
This machine datum is used exclusively for KUKA--internal development purposes.
2.1.80 $LG_PTP[ ]
Loop gain PTP
Data type real
min
V
a
l
u
e
-- --
Unit 1/ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$LG_PTP[ ]” is used to set the loop gain of the position control loop for PTP motions. This
influences the motion characteristics of the axis.
If the control value is set too high, the command value is reached quickly resulting in “hard
control”. This causes the axis to “pulse”.
Default value = 0.3