Kuka KR C2 - G_Coe_Cur; G_Vel_Ptp[ ]; G_Vel_Cp[ ]

Machine Data
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Maschinendaten 12.0400 en
2.1.84 $G_COE_CUR
Proportional gain of the current controller
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
This machine datum is only relevant for the KR C1 controller.
2.1.85 $G_VEL_PTP[ ]
Proportional gain of the speed controller for PTP motion
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The setting of the proportional gain of the speed controller for PTP motion is made in
“$G_VEL_PTP[ ]”.
The P component can be used to set the strength of the reaction of the controller output to
a deviation from the command value. Generally, the P component should be as high as
possible. However, if the P component is too high, this can render the control loop unstable;
this results in poor positioning or causes the drive to buzz loudly.
The value depends on the motor type.
2.1.86 $G_VEL_CP[ ]
Proportional gain of the speed controller for CP motion
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The setting of the proportional gain of the speed controller for CP motion is made in
“$G_VEL_CP[ ]”.
The P component can be used to set the strength of the reaction of the controller output to
a deviation from the command value. Generally, the P component should be as high as
possible. However, if the P component is too high, this can render the control loop unstable;
this results in poor positioning or causes the drive to buzz loudly.
The value depends on the motor type.