Kuka KR C2 - Technical data; Basic data

2 The file $MACHINE.DAT (continued)
47 of 91
Maschinendaten 12.0400 en
2.1.92 $ACC_MA
Data for path acceleration of the TCP
Data type real
min
V
a
l
u
e
-- --
Unit m/s
2
, degrees/s
2
V
a
l
ue
max
-- --
Assignment -- --
CP: Path in m/s
2
:
Cartesian motions are carried out with the acceleration $RED_ACC_CPC*$ACC_MA.CP.
ORI1: Swivel in degrees/s
2
Swivel motions are carried out with the acceleration $RED_ACC_CPC*$ACC_MA.ORI1.
ORI2: Rotation in degrees/s
2
Rotational motions are carried out with the acceleration $RED_ACC_CPC*ACC_MA.ORI2.
Incorrect use can significantly shorten the service life of the gear units.
2.1.93 $VEL_MA
Data for path velocity of the TCP
Data type real
min
V
a
l
u
e
-- --
Unit m/s, degrees/s
V
a
l
ue
max
-- --
Assignment -- --
CP: Path in m/s
Cartesian motions are carried out with the velocity $RED_VEL_CPC*$VEL_MA.CP.
ORI1: Swivel in degrees/s
Swivel motions are carried out with the velocity $RED_VEL_CPC*$VEL_MA.ORI1.
ORI2: Rotation in degrees/s
Rotational motions are carried out with the velocity $RED_VEL_CPC*VEL_MA.ORI2.
Incorrect use can significantly shorten the service life of the gear units.