Kuka KR C2 - 122 $Fol_Err_Ma[ ]; 123 $Vel_Enc_Co; 124 $Com_Val_Mi[ ]

Machine Data
60 of 91
Maschinendaten 12.0400 en
2.1.122 $FOL_ERR_MA[ ]
Factor for following error monitoring on the DSE
Data type real
min
V
a
l
u
e
20.0
Unit []
V
a
l
ue
max
20.0
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The definition of the monitoring window for following error monitoring refers to $IN_POS_MA
* $FOL_ERR_MA
If the value is exceeded, the error message “Regulator limit exceeded Ax” is generated and
maximum braking is triggered.
This entry is fixed.
Default value = 20.0
2.1.123 $VEL_ENC_CO
Command speed threshold for encoder monitoring
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.
2.1.124 $COM_VAL_MI[ ]
Command speed limitation
Data type real
min
V
a
l
u
e
150.0
Unit %
V
a
l
ue
max
150.0
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
Limitation of axis command speed.
The command speed value is limited to the value specified in $COM_VAL_MI.
This entry is fixed.
Default value = 150.0