Kuka KR C2 - 105 $Brk_Opentm; 106 $Brk_Del_Com

Machine Data
52 of 91
Maschinendaten 12.0400 en
2.1.105 $BRK_OPENTM
This machine datum may only be modified if it is absolutely certain that the
modification will not endanger persons.
Delay of command velocity output
Data type int
min
V
a
l
u
e
1
Unit ms
V
a
l
ue
max
-- --
Assignment -- --
Delay of command velocity output after the axis brakes have been opened (prevents motion
“against the brakes”).
Start
Open brakes
“Brake open”
Activate servos
Command value
$BRK_OPENTM Signal processing time
Fig. 6 Delay
2.1.106 $BRK_DEL_COM
Time after which the axis brakes are closed on completion of positioning in the
command mode
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment -- --