Kuka KR C2 - Page 93

Index
Index -- ii
D
$DECEL_MB[ ], 43
Decoupled external axes, 86
$DEF_A4FIX, 70
$DEF_A5LINK, 70
$DEF_FLT_CP, 48
$DEF_FLT_PTP, 48
$DEF_OV_JOG, 49
Denavit--Hartenberg parameters, 77
Detection time, 40
$DH_4, 77
$DH_5, 77
Difference of encoder actual values, 63
$DIR_CAL, 49
Direction of rotation of the axes, 72
Direction specification for slave axes, 20
$DIS_WRP1, 74
$DIS_WRP2, 74
DSE channel, 17
DSE channels, 16
DSE control loop, 24, 25
DSE loop, 24, 25
$DSECHANNEL[ ], 16
Dynamic braking, 43
Dynamic braking torque, 82
E
Eccentricity, 76
$EMSTOP_TIME, 63
EMT mastering, 41
EMT mastering travel, 42
EMT signals, 41
Encoder ratio, 79
Energy of the axis, 80
$ERSYSROOT, 14
$ET1_AX, 88
$ET1_NAME[ ], 89
$ET1_TA1KR, 89
$ET1_TA2A1, 89
$ET1_TA3A2, 90
$ET1_TFLA3, 90
$ET1_TPINFL, 91
$EX_AX_NUM, 83
$EX_KIN, 88
$EXCOUP_COM[ ], 11
Extended position, 12
External axes, 83, 88
External kinematic systems, 88
External position encoder/motor encoder, 79
F
$FFC_TORQ, 55
$FFC_VEL, 55
Filtering of the analog output, 49
Finitely rotating, 10
Fixed positioning of axis 4, 70
Flange velocity, 35
$FOL_ERR_MA[ ], 60
Following error monitoring, 60
Force/torque input, 26
Frame chain, 13
Frame linkage, 89, 90, 91
Function generators, 9
G
$G_COE_CUR, 44
$G_VEL_CAL, 42
$G_VEL_CP[ ], 44
$G_VEL_PTP[ ], 44
Gear ratio, 15, 26
Gear torque monitoring, 55
$GEART ORQ_MON, 55
I
I factor, 45
$I_VEL_CP[ ], 45
$I_VEL_PTP[ ], 45
$IN_POS_CAR, 57
$IN_POS_MA[ ], 58
$IN_POS_ORI, 57
$IN_STILL_MA, 59
$INC_AXIS, 72
$INC_EXTAX, 73
$INC_EXTAX[ ], 73
Increment, 72, 73
Infinitely rotating, 10
J
Joint positions, 74