Kuka KR C2 - Workspace, safety zone and danger zone

Machine Data
54 of 91
Maschinendaten 12.0400 en
2.1.108 $BRK_DEL_EX
Brake delay time for external axes
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$BRK_DEL_EX” defines the delay time after which the brakes of the external axes close.
This entry is only active if bit 3 is set in “$BRK_MODE” (see Section 2.1.104).
2.1.109 $SERV_OFF_TM
Axis servo and axis brake overlap time
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment -- --
T ime during which axis servo and axis brake overlap in order to locate the axis securely.
See Fig. 7.
2.1.11 0 $MS_DA
Modification of this machine datum constitutes a major danger to persons
and is thus not permitted.
This machine datum is used exclusively for KUKA--internal development purposes.