Kuka KR C2 - Category of the safety-oriented circuits; Stop reactions

2 The file $MACHINE.DAT (continued)
55 of 91
Maschinendaten 12.0400 en
2.1.111 $FFC_VEL
Velocity feed forward control switching
Data type bin
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Bit sequence
LSB: Axis 1
MSB: Axis 12
0Off
1On
2.1.112 $FFC_TORQ
Torque pre--control
Data type bool
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Torque pre--control On/Off is only used in conjunction with higher motion profile. In the case
of non--KUKA kinematic systems with deactivated acceleration adaptation
($ADAP_ACC=#NONE) and deactivated higher motion profile ($OPT_MOVE=#NONE), it
must be switched off.
Description of the valid values:
TRUE = activated
F ALSE = deactivated
2.1.113 $GEARTORQ_MON
Control of gear torque monitoring
Data type bool
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Gear torque monitoring On/Off is only used in conjunction with higher motion profile. In the
case of non--KUKA kinematic systems with deactivated acceleration adaptation
($ADAP_ACC=#NONE) and deactivated higher motion profile ($OPT_MOVE=#NONE), it
must be switched off.
TRUE: Activated using the limits (% of the maximum accelerating torques) defined in the data
$DYN_DAT[231]--$DYN_DAT[236] in $robcor.dat.
FALSE: Deactivated