Kuka KR C2 - 132 $Emstop_Time; 133 $Act_Val_Dif; 134 $Trafoname; 135 $Kinclass

2 The file $MACHINE.DAT (continued)
63 of 91
Maschinendaten 12.0400 en
2.1.132 $EMSTOP_TIME
Time monitoring for path--maintaining EMERGENCY STOP
Data type int
min
V
a
l
u
e
-- --
Unit ms
V
a
l
ue
max
-- --
Assignment -- --
If the robot is not stationary after the time defined in “$EMSTOP_TIME”, the drives
contactor is switched off.
2.1.133 $ACT_VAL_DIF
Max. permissible difference of encoder actual values
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Maximum permissible difference of the encoder actual values, in increments, before and
after the controller is booted.
2.1.134 $TRAFONAME
Name of coordinate transformation
Data type char
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This makes it possible to assign the transformation a symbolic name. It is also compared with
the robot names programmed on the RDC ($ROBTRAFO).
2.1.135 $KINCLASS
Kinematic classes
Data type char
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
The machine datum defines the “kinematic class”.
Permissible values are:
G #STANDARD
This value activates a transformation that is configured using the following data.