Kuka KR C2 - 120 $Time_Pos[ ]; 121 $In_Still_Ma

2 The file $MACHINE.DAT (continued)
59 of 91
Maschinendaten 12.0400 en
2.1.120 $TIME_POS[ ]
Positioning time
Data type int
min
V
a
l
u
e
512
Unit ms
V
a
l
ue
max
512
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
During positioning, a check is made in the position controller for each axis to see whether
the following error is inside the positioning window for [axis velocity = 1] within the time
specified ($TIME_POS).
This entry is fixed.
Default value = 512
See Fig. 8
2.1.121 $IN_STILL_MA
Factor for standstill window (see Fig. 9)
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
The size of the window is defined by $IN_STILL_MA*$IN_POS_MA.
Standstill window
Axes
limit value exceeded
Standstill window
Positioning window
Input value
s
t
Fig. 9 Standstill window