Kuka KR C2 - 102 $Red_Cal_Sd; 103 $Red_Cal_Sf; 104 $Brk_Mode

Machine Data
50 of 91
Maschinendaten 12.0400 en
2.1.102 $RED_CAL_SD
Reduction factor for mastering velocity after reaching reference point cam
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
Only required for incremental encoders; not relevant for resolvers.
2.1.103 $RED_CAL_SF
Reduction factor for mastering velocity before reaching reference point cam
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
Only required for incremental encoders; not relevant for resolvers.
2.1.104 $BRK_MODE
This machine datum may only be modified if it is absolutely certain that the
modification will not endanger persons.
Brake control mode
Data type bin
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$BRK_MODE” defines the brake control mode.
Bit no. 3 2 1 0
Meaning External axes Program mode General Command mode
Command mode:
Bit 0 = 0 Robot brakes do not close at end of command.
Bit 0 = 1 Robot brakes close at end of command in accordance with mode bit 1.