Kuka KR C2 - 148 $Inc_Extax[ ]; 149 $Inc_Car[ ]; 150 $Pos_Swb[ ]

2 The file $MACHINE.DAT (continued)
73 of 91
Maschinendaten 12.0400 en
2.1.148 $INC_EXTAX[ ]
Axis--specific increment of external axes
Data type real
min
V
a
l
u
e
-- --
Unit increments
V
a
l
ue
max
-- --
Assignment [1] axis 1 ... [6] axis 6
The increment for an axis is the distance moved by the robot each time a jog key is pressed.
Example
$INC_EXTAX[1]=10.0
$INC_EXTAX[2]=10.0
2.1.149 $INC_CAR[ ]
Increment, Cartesian, relative to the tool
Data type real
min
V
a
l
u
e
-- --
Unit degrees, mm
V
a
l
ue
max
-- --
Assignment [1]... [6]
2.1.150 $POS_SWB[ ]
Modification of Status for singularities
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
For each of the max. three singularities, it is possible to specify here whether or not
modification of the solution branch, i.e. the status, is permissible during a CP motion.
Modification can, however, lead to velocity--dependent axis positions and does not solve the
underlying problem of the singularities. We therefore recommend leaving this value always
set to 0.
Description of the permissible values:
0=NO
1 = YES
Example
Singularity 1 – modification of Status is not to be possible:
$POS_SWB[1]=0