Kuka KR C2 - Installing the robot controller

Machine Data
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Maschinendaten 12.0400 en
2.1.169 $AX_ENERGY_MAX[ ]
Maximum energy of the axis
Data type real
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
The value must be calculated on a case--by--case basis.
The maximum energy E
max
of the axis consists of the potential energy E
pot
and the kinetic
energy E
kin
. It is the energy which must be taken up by the brake in the worst--case situation.
E
max
= E
pot
+ E
kin
2.1.169.1Kinetic energy
The kinetic energy E
kin
is the sum of translational E
trans
and rotational energy E
rot
:
E
kin
= E
trans
+ E
rot
E
trans
=
m
2
⋅ v
2
max
E
rot
=
J
motor
2
⋅ ω
2
motor
+
J
gear
2
⋅ ω
2
gear
+
J
structure
2
⋅ ω
2
structure
ω = n ⋅
π
30
E: Energy [J]
m: Mass [kg]
v: Velocity [m/s]
J: Mass moment of inertia [kg m
2
]
ω: Angular velocity [1/s]
n: Speed [rpm]
In the case of a cylindrical turntable of mass m and radius r, the following applies:
J
structure
=
m
2
⋅ r
2