Kuka KR C2 - Start-up; Start-up overview

2 The file $MACHINE.DAT (continued)
79 of 91
Maschinendaten 12.0400 en
2.1.166 $SPC_KIN
Data for special kinematics
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [1] ... [30]
This machine datum is used exclusively for KUKA--internal development purposes.
2.1.167 $ASR_ERROR
Permissible speed deviation (external position encoder/motor encoder)
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [1] ... [30]
If an external position encoder is used, “$ASR_ERROR” specifies the permissible deviation
of the speed measured by the motor encoder from that measured by the external encoder .
2.1.168 $RAT_EXT_ENC
Axis--specific encoder ratio of the external encoder
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment [1] ... [30]
Example
$RAT_EXT_ENC[1]={N 1,D 4}
If the slave also has an external sensor, the encoder ratio of the slave must be the same
as that of the master.