Kuka KR C2 - 146 $Axis_Dir[ ]; 147 $Inc_Axis

Machine Data
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Maschinendaten 12.0400 en
2.1.146 $AXIS_DIR[ ]
Direction of rotation of the axes for the transformation
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
It is only the direction of rotation for the transformation that is defined by the machine datum.
The rotational axis and thus direction of rotation (for the transformation) of the main axes is
defined by the definition of the coordinate systems IRO and X3. This machine datum is thus
required for the free selection of any direction of rotation.
The actual direction of rotation of an axis is not affected by $AXIS_DIR. This can only be
modified by means of the sign preceding the value for the gear ratio ($RAT_MOT_AX).
Mathematically positive = 1
Mathematically negative = --1
Definition of the direction of rotation is only meaningful once the external axes have been
calibrated.
Example
In the example, the sign of the angle of axis 2 is inverted in the transformation. If the axis
is at --10 degrees, for example, the transformation works on the basis of +10 degrees.
$AXIS_DIR[2]=-1
2.1.147 $INC_AXIS
Incremental dimension, axis--specific
Data type real
min
V
a
l
u
e
-- --
Unit degrees, mm
V
a
l
ue
max
-- --
Assignment [1] axis 1 ... [6] axis 6