Kuka KR C2 - Repair; Service jumper plug X11

2 The file $MACHINE.DAT (continued)
89 of 91
Maschinendaten 12.0400 en
2.2.7 $ET1_NAME[ ]
Name of the transformation
Data type char
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$ET1_NAME[ ]” contains the name of the transformation.
Example
$ET1_NAME[]=“REINHARD_1”
2.2.8 $ET1_TA1KR
Frame linkage between the root point and A1
Data type real
min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$ET1_TA1KR” defines the transformation between the kinematic root (root point of the
external axis) and the pivot point of axis 1 (the first external axis used in this external
transformation, ET1).
Example
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 427.0,A 0.0,B 0.0,C 90.0}
2.2.9 $ET1_TA2A1
Frame linkage between A1 and A2
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