Kuka KR C2 - EMERGENCY STOP circuit and safeguard

Machine Data
70 of 91
Maschinendaten 12.0400 en
2.1.142 $DEF_A4FIX
Fixed positioning of axis 4 and simultaneous control of axis 5 in palletizing mode
Data type bool
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This machine datum must be set to TRUE for the 5--axis palletizing robot. In the case of
Cartesian positions, the orientation is modified so that the flange is always parallel to the floor.
The position remains identical.
In the case of axis--specific positions, the angle of axis 5 is adapted in such a way that the
flange is parallel to the floor (this naturally causes the Cartesian position to change).
This setting is only permissible for type #NR and only for floor-- or ceiling--mounting (can be
seen from $ROBROOT and $TIRORO).
The value of $DEF_A4FIX also serves as a default setting for $PAL_MODE.
Description of the permissible values:
G TRUE = Palletizing mode on by default
G F ALSE = Palletizing mode off by default
2.1.143 $DEF_A5LINK
4 --axis palletizing mode control
Data type bool
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
This machine datum must be set to TRUE for the 4--axis palletizing robot. $DEF_A4FIX is
then also implicitly set to TRUE. This setting is also only permissible for type #NR and is only
meaningful if the robot is mounted on the floor.
$PAL_MODE must not be set to FALSE in this case!
Description of the permissible values:
G TRUE = 4--axis palletizing mode activated
G F ALSE = 4--axis palletizing mode deactivated
If 4--axis palletizing mode is activated, axes 4 and 5 are automatically switched internally
to axis simulation. The assignment of $DEF_A4FIX is ignored.