Kuka KR C2 - Vel_Filt[ ]; Tm_Con_Vel; Apo_Dis_Ptp[ ]

Machine Data
46 of 91
Maschinendaten 12.0400 en
2.1.89 $VEL_FILT[ ]
Tacho filter
Data type real
min
V
a
l
u
e
2.5
Unit ms
V
a
l
ue
max
2.5
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$VEL_FILT[ ]” sets the time constant for the current speed filter.
This entry is fixed.
Default value = 2.5
2.1.90 $TM_CON_VEL
Minimum constant travel phase
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment -- --
The minimum constant travel phase is used to avoid sudden loading of the robot arm. Such
loading is caused by abrupt changes between acceleration and braking with short distances
between points.
v
t
$TM_CON_VEL=0
$TM_CON_VEL=10
10
Fig. 5 Minimum constant travel phase
2.1.91 $APO_DIS_PTP[ ]
Maximum approximation distance for PTP motions
Data type real
min
V
a
l
u
e
-- --
Unit degrees, mm
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The maximum approximation distance is specified individually for each axis in
“$APO_DIS_PTP[ ]”.
Default value = 90.0 degrees or 500.0 mm