Kuka KR C2 - Ex_Ax_Async; Async_T1_Fast

Machine Data
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Maschinendaten 12.0400 en
Asynchronous external axes: Motion of the external axes starts and stops independently
of the robot axes.
Bit no. 1 0
Meaning E2 E1
G Bit = 1 ----> corresponding axis is switched to asynchronous mode
G Bit = 0 ----> corresponding axis is switched to synchronous mode
Example
All external axes are switched to synchronous mode:
$EX_AX_ASYNC=’B0000’
2.2.3 $ASYNC_T1_F AST
Velocity reduction factor in T1 mode
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
Deactivation of the T1 velocity reduction factor of asynchronous external axes.
Syntax:
$ASYNC_T1_FAST = Value
Argument Type Explanation
Value INT
This bit--coded value specifies which external axis may be
moved in the case of coordinated asynchronous motions
without velocity reduction in T1 mode:
-- The bits correspond to the external axes in ascending order:
Bit 0 = external axis 1, Bit 1 = external axis 2, etc.
-- If the bit is set, the external axis may be moved, in the case
of coordinated asynchronous motions in T1 mode, at
maximum velocity.