Kuka KR C2 - Motor connector X20, axes 1 to 6

2 The file $MACHINE.DAT (continued)
43 of 91
Maschinendaten 12.0400 en
2.1.81 $LG_CP[ ]
Loop gain for CP motion
Data type real
min
V
a
l
u
e
-- --
Unit 1/ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$LG_CP[ ]” is used to define the loop gain of the position controller for CP motion. In order
to achieve optimal CP motion, the value of the robot motors should be entered here.
All axes have the same value.
2.1.82 $TC_SYM
Time--constant for symmetry of the axes
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
In order to achieve optimal CP motion, the value of the equivalent time constant of the
slowest speed control loop should be entered here.
Default value = 0.1
2.1.83 $DECEL_MB[ ]
Braking ramp for dynamic braking
Data type real
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
In the event of dynamic braking being triggered by a fault situation, it is possible to set a ramp
for the command speed using the entry “$DECEL_MB[ ]”. This prevents the command value
from falling too quickly and causing the current controller to go into limitation, which in turn
would prevent the robot from being braked in a controlled manner.
$DECEL_MB[] =
$RAISE_TIME[]
$RED_ACC_EMX[]
⋅ 100 but min. 180 ms