Kuka KR C2 - 125 $Tl_Com_Val; 126 $Touch_Vel; 127 $Touch_Acc; 128 $Softn_End[ ]

2 The file $MACHINE.DAT (continued)
61 of 91
Maschinendaten 12.0400 en
2.1.125 $TL_COM_VAL
Tolerance time after exceeding the command speed limitation
Data type int
min
V
a
l
u
e
50
Unit ms
V
a
l
ue
max
50
Assignment -- --
If the command speed is still greater than the limit value defined in $COM_VAL_MI after the
time defined in $TL_COM_VAL has elapsed, the error message “Command velocity
exceeded” is generated.
This entry is fixed.
Default values = 50.0 and 50.0
2.1.126 $TOUCH_VEL
Maximum retract velocity for touch sensor
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
2.1.127 $TOUCH_ACC
Retract acceleration for touch sensor
Data type int
min
V
a
l
u
e
-- --
Unit %
V
a
l
ue
max
-- --
Assignment -- --
2.1.128 $SOFTN_END[ ]
Software limit switches in the minus direction
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
In the mastered state, the range of motion of the axes can be restricted using software limit
switches.