Kuka KR C2 - 114 $Servomode; 115 $Acc_Act_Ma; 116 $Vel_Act_Ma

Machine Data
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Maschinendaten 12.0400 en
2.1.114 $SERVOMODE
Controller functions
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This machine datum is used exclusively for KUKA--internal development purposes.
2.1.115 $ACC_ACT_MA
Limit value of axial command acceleration
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
a_soll_max=$ACC_ACT_MA/100*“Maximum motor speed”/$raise_time
V_soll_max=$VEL_ACT_MA/100* “Maximum motor speed”*“Reduction factor”/100
“Maximum motor speed”=
G $VEL_AXIS_MA with deactivated energy monitoring ($energy_mon=false) and
non--KUKA kinematic systems.
G With active energy monitoring ($energy_mon=true), a value is calculated from the
dynamic model DYN_DAT[249--254].
2.1.11 6 $VEL_ACT_MA
Limit value of axial command velocity
Data type real
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
V_soll_max=$VEL_ACT_MA/100* “Maximum motor speed”*“Reduction factor”/100
“Maximum motor speed”=
G $VEL_AXIS_MA with deactivated energy monitoring ($energy_mon=false) and
non--KUKA kinematic systems.
G With active energy monitoring ($energy_mon=true), a value is calculated from the
dynamic model DYN_DAT[249--254].