Kuka KR C2 - EMERGENCY STOP button; Enabling switches

Machine Data
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2.1.119 $IN_POS_MA[ ]
Positioning window
Data type real
min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
Command value
$IN_POS_MA
Positioning time exceeded
Axis in position
t
Positioning window in mm (degrees)
$TIME_POS
Fig. 8 Positioning window
During positioning, a check is made in the position controller for each axis to see whether
the following error is inside the positioning window for [axis velocity = 0] within the time
specified ($TIME_POS).
If the following error is larger after this time has elapsed, a corresponding error message is
generated.
Default value = 0.1
For linear axes = 1.5 mm
For motor type E = 0.2