2 The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
General:
For KR C2: robot brakes always
open and close simultaneously!
Program mode:
Bit 2 = 0 Robot brakes do not close during motion pauses within programs.
Bit 2 = 1 Robot brakes close during motion pauses within programs in accordance
with mode bit 1.
External axes:
Bit 3 = 0 The brakes of external axes respond in the same way as the robot brakes
in accordance with mode bits 0 -- 2.
Bit 3 = 1 Mathematically coupled external axes respond in the same way as the
robot axes. External axes that are not mathematically coupled function
independently of the robot axes if they are controlled separately.
Default settings of the brake mode:
G Robot brakes close at end of command
G Robot brakes close simultaneously
G Robot brakes close during motion pauses
G External axes do not brake individually during motion pauses
With asynchronous external axes and SBMs: $BRK_MODE=1101
Example
$BRK_MODE=’B0101’
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