Kuka KR C2 - Connecting the connecting cables; Connecting the PE equipotential bonding; Connecting the robot controller to the power supply

2 The file $MACHINE.DAT (continued)
81 of 91
Maschinendaten 12.0400 en
2.1.169.2Potential energy
The formula for the potential energy E
pot
:
E
pot
= m ⋅ g ⋅ ∆h
m: Mass [kg]
g: Gravitational acceleration 9.81 [m/s
2
]
∆h: Height difference [m]
2.1.169.3Maximum energy of the linear unit
For a linear unit in the plane, ∆h = 0:
E
max
=
m
2
⋅ v
2
max
2.1.169.4Maximum energy of a turntable
For a turntable:
E
max
=
J
motor
2
⋅ ω
2
motor
+
J
gear
2
⋅ ω
2
gear
+
m
turntable
4
⋅ r
2
turntable
⋅ ω
2
turntable
2.1.170 $BRK_ENERGY_MAX[ ]
Maximum permissible braking energy
Data type real
min
V
a
l
u
e
-- --
Unit J
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The values here can be read from a table and are dependent on the motor.
2.1.171 $BRK_COOL_OFF_COEFF[ ]
Brake cooling factor
Data type real
min
V
a
l
u
e
-- --
Unit J/s
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The brake cools down again when the system is at standstill. The energy dissipated depends
on the cooling factor of the brake.
Example
The first external axis is driven by a motor of type D:
$BRK_COOL_OFF_COEFF[7]=33