Kuka KR C2 - Machine Data for External Axes; Ex_Ax_Num

2 The file $MACHINE.DAT (continued)
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2.2 Machine data for external axes
The last machine data in $Machine.dat are for the configuration of external axes.
The following sections contain descriptions of all the machine data for external axes.
More detailed information on external axes can be found in the documentation
“Configuration (Machine Data)” / “External Axes”.
2.2.1 $EX_AX_NUM
Number of external axes
Data type int
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$EX_AX_NUM” defines the number of external axes that are connected to the robot system.
Example
Three external axes are present:
$EX_AX_NUM=3
2.2.2 $EX_AX_ASYNC
Switching external axes to asynchronous motion
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
This option makes it possible to move the external axes independently of the robot axes.
Synchronous external axes: The robot axes and external axes start to move
simultaneously and stop simultaneously.