Kuka KR C2 - Async_Ex_Ax_Decouple

Machine Data
86 of 91
Maschinendaten 12.0400 en
2.2.4 $ASYNC_EX_AX_DECOUPLE
Decoupled 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
Decoupling of external axes with the position and DSE data saved for subsequent
recoupling.
Decoupling an axis means that this axis is considered by the controller to be no longer
present; in particular , the axis cannot be moved and all monitoring functions are deactivated.
In the case of coordinated synchronous motions (PTP, LIN, CIRC ...), a decoupled axis is
not taken into consideration. This is because the axis is automatically switched to
asynchronous mode.
In the case of coordinated asynchronous motions (ASYPTP), a decoupled axis is not taken
into consideration.
Synchronous and asynchronous manual motions (MOVE, AJOG) of a decoupled external
axis are rejected and an error message is generated.
A decoupled axis cannot be mastered using the normal mastering procedure in which the
axis must be moved. An attempt to master such an axis in this way will be rejected and an
error message will be generated.
The characteristics described above mean that this “functional” decoupling of an external
axis in KRL makes it possible to change this axis electrically (and mechanically) while the
robot system is in operation.
Decoupled external axes are automatically switched to asynchronous mode in
$ASYNC_AXIS.
The flag $ASYNC_OPT for enabling the asynchronous functionality must be set to TRUE.
When $ASYNC_EX_AX_DECOUPLE is defined, an advance run stop is triggered if the
value changes. Before a new value is saved, the system will wait until all synchronous
motions (through advance run stop) and all asynchronous motions have been completed,
and all axes are in position.
The axes to be decoupled may not be coupled mechanically or mathematically with other
axes; most importantly, the axis may not be part of an external kinematic system.