Kuka KR C2 - Interface X11

2 The file $MACHINE.DAT (continued)
71 of 91
Maschinendaten 12.0400 en
2.1.144 $SPINDLE
Spindles
Data type int
min
V
a
l
u
e
0
Unit -- --
V
a
l
ue
max
1
Assignment -- --
Description of the permissible values:
G 0=No
G 1=Yes
2.1.145 $AXIS_SEQ
Change in sequence from axis ... to axis ...
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [1] axis 1 ... [6] axis 6
Assignment of the axes.
With certain kinematic systems it is possible to interchange the axes without this resulting
in a different kinematic behavior.
With main axes #SS and #CC, for example, the axes can be freely interchanged; with #CS
and #SC it is possible to interchange axes 1 and 2 or 2 and 3. This interchange is carried out
using $AXIS_SEQ[]. $AXIS_SEQ[i]=j thus means that axis j corresponds to the normal
axis i.
In the case of a SCARA robot (#CC), for example, axis 1 is usually the linear axis.
$AXIS_SEQ[1]=3 defines axis 3 as the linear axis.
A change to the axis sequence of other kinematic systems is not rejected. It is thus
necessary to use this machine datum with extreme caution!