Kuka KR C2 Operating Handbook
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Kuka KR C2 Operating Handbook

Machine data
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OPERATING HANDBOOK
KR C2
Machine Data
Issued: 05 Feb 2005
Version: 00
Maschinendaten 12.0400 en
1 of 91

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Summary of Contents for Kuka KR C2

  • Page 1 OPERATING HANDBOOK KR C2 Machine Data Issued: 05 Feb 2005 Version: 00 Maschinendaten 12.0400 en 1 of 91...
  • Page 2 KUKA Roboter GmbH e Copyright This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work.

  • Page 3: Table Of Contents

    Contents Introduction ........... . . Characteristics .
  • Page 4 Machine Data 2.1.42 $KPS_CURR_MAX ............2.1.43 $KPS_CURR_RATED .
  • Page 5 2.1.96 $DEF_FLT_PTP ............. . . 2.1.97 $DEF_FLT_CP .
  • Page 6 Machine Data 2.1.150 $POS_SWB[ ] ..............2.1.151 $SINGUL_POS .
  • Page 7 Maschinendaten 12.0400 en 7 of 91...

  • Page 8: Introduction

    All the machine data contained in the file $machine.dat are described in this documentation. System requirements 1.2.1 Software This description is valid from: KR C2 system software release 5.2 1.2.2 Hardware Controller type KR C2 Special training is required for configuring machine data.

  • Page 9: The File $Machine.dat

    ---- Value Value Unit ---- ---- Assignment ---- Example $V_R1MADA[]=”V4.4.0/KUKA5.2” (V4.4.0 is the machine data version; KUKA 5.2 is the system software release) 2.1.2 $TECH_MAX Number of function generators Data type ---- Value Value Unit ---- ---- Assignment ---- Function generators define the number of technology packages.

  • Page 10: Num_Ax

    Machine Data 2.1.3 $NUM_AX Number of axes in the robot system Data type Value Value Unit ---- Assignment [1] axis 1 ... [6] axis 6 Example The value for a robot system with six axes is entered as follows: $NUM_AX=6 2.1.4 $AXIS_TYPE[ ] Definition of the axis type...

  • Page 11: Axis_Type[ ]

    The file $MACHINE.DAT (continued) Infinitely rotating axes are also limited, according to the gear ratio. The software limit switches for rotational axes can only be set between [--358 degrees] and [+358 degrees]. Infinitely rotating axes turn modulo 360 degrees, i.e. PTP {A6 3610} results in a motion of A6 from 0 degrees to 10 degrees.

  • Page 12: Mames[ ]

    Machine Data 2.1.7 $MAMES[ ] Zero point offset Data type ---- ---- Value Value Unit mm, degrees ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 Offset between the mechanical zero point (mastering notch) and the mathematical zero point of the axes in mm (degrees).

  • Page 13: Robroot

    The file $MACHINE.DAT (continued) 2.1.8 $ROBROOT Offset and orientation Data type ---- ---- Value Value Unit mm, degrees ---- Assignment FRAME {X, Y, Z, A, B, C} Offset and orientation of the robot relative to the world coordinate system. Ceiling- -mounted robots: Angle C is 180 degrees Wall- -mounted robots: Angle B is 90 degrees The frame chain or vector chain of the robot arm (axes 1 to 6) without external axes is illustrated in Fig.

  • Page 14: Ersysroot

    Machine Data 2.1.9 $ERSYSROOT Offset and orientation with external axes Data type ---- ---- Value Value Unit mm, degrees ---- Assignment FRAME {X, Y, Z, A, B, C} Offset and orientation of the robot relative to the world coordinate system. Defines the offset between the root point of the external axis and the robot base flange.

  • Page 15: Rat_Mot_Ax[ ]

    The file $MACHINE.DAT (continued) 2.1.10 $RAT_MOT_AX[ ] Motor/axis gear ratio Data type frame Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 In order to calculate the resolution, the gear ratio of the motor to the axis must be specified for each axis.

  • Page 16: Rat_Mot_Enc[ ]

    Machine Data 2.1.11 $RAT_MOT_ENC[ ] Motor/encoder ratio Data type frame ---- Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 In order to calculate the resolution, the ratio of the motor to the encoder must be specified for each axis.
  • Page 17 The file $MACHINE.DAT (continued) Valid values for $DSECHANNEL are: Loop Channel not used 1--8 (1--9) 8 control loops on DSE no. 1 (+spare channel 9) 10--17 (10--18) 8 control loops on DSE no. 2 (+spare channel 18) Each control loop number may be specified only once. This entry defines which DSE channel is to be used by the axis.

  • Page 18: Pmchannel[ ]

    Machine Data 2.1.13 $PMCHANNEL[ ] Selection of the KPS Data type Value Value Unit [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 $PMCHANNEL[An] This variable defines which KPS is used to drive the axis (An). The meaning remains unchanged.

  • Page 19: Loop_Lg_Ptp[ ]

    The file $MACHINE.DAT (continued) The following applies for the second DSE- -IBS: $PM_CHANNEL[]=28 1st KPS $PM_CHANNEL[]=30 2nd KPS $PM_CHANNEL[]=32 3rd KPS $PM_CHANNEL[]=34 4th KPS $PM_CHANNEL is also used to define the braking channel (2 per KPS) assigned to the axis brake.

  • Page 20: Loop_I_Vel_Ptp[ ]

    Machine Data 2.1.16 $LOOP_I_VEL_PTP[ ] Integral component of the speed controller Data type real ---- Value Value Unit ---- ---- Assignment ---- Defines the integral factor of the speed controller. The value applies to PTP and CP motion. It is only required for the control loop of a position--controlled slave (“Slave Pos”). 2.1.17 $LOOP_DIRECTION[ ] Direction specification for slave axes Data type...

  • Page 21: Slave_Loop_Fol_Alarm[ ]

    The file $MACHINE.DAT (continued) 2.1.19 $SLAVE_LOOP_FOL_ALARM[ ] Deviation limit between master and slave Data type real ---- Value Value Unit degrees, mm ---- Assignment ---- Shut--off threshold If the following error exceeds the threshold value, PATH--MAINTAINING BRAKING is triggered. 2.1.20 $SLAVE_LOOP_SPEED_ALARM[ ] Max.

  • Page 22: Loop_Type_Attribute[ ]

    Required for certain Loop_types (currently only $Loop_type[Ln]=5) for the detailed definition of linked characteristics. Default value = 0 This machine datum is used exclusively for KUKA--internal development purposes. 2.1.24 $MASTER_LOOP[Ln] Selection of the higher- -level master control loop Data type...

  • Page 23: Slave_Torque_Ratio[ ]

    The file $MACHINE.DAT (continued) Valid values for $MASTER_LOOP are: 1--8 (1--9) Control loop number of the master (only DSE no. 1) 10--17 (10--18) Control loop number of the master (only DSE no. 2) Master and slave loops cannot be distributed over two DSEs. 2.1.25 $SLAVE_TORQUE_RATIO[ ] Torque- -controlled slave: ratio between command torque and slave/master Data type...

  • Page 24: Ninput_Sensorchannel[Ln]

    Machine Data 2.1.27 $NINPUT_SENSORCHANNEL[Ln] Channel number of the speed input for the DSE loop Data type ---- Value Value Unit ---- Assignment ---- $NINPUT_SENSORCHANNEL[Ln]=y for RDC--commutated motors: Defines the channel number (y) of the speed input for the DSE loop (Ln). Each channel number may be specified only once.

  • Page 25: Posinput_Sensortype[Ln]

    The file $MACHINE.DAT (continued) Valid values for $NINPUT_SUBCHANNEL with “sensor type 2” are: y = 1 -- 4 y: resolver channel; 1: CAN master* * The “CAN master” is responsible for synchronization of the resolver box with the servo bus. A CAN master must be defined for each resolver box.

  • Page 26: Torqinput_Sensortype[Ln]

    Machine Data 2.1.32 $TORQINPUT_SENSORTYPE[Ln] Force/torque input of the DSE control loop Data type real ---- Value Value Unit ---- Assignment ---- $TORQINPUT_SENSORTYPE[Ln]=y Like $NINPUT_SENSORTYPE for the force/torque input of the DSE control loop (Ln). 2.1.33 $LOOP_RAT_MOT_AX[ ] Motor / drive gear ratio of the slave axis Data type frame ----...

  • Page 27: Motor_Pole_Number[ ]

    Number of pole pairs of the motor Data type ---- Value Value Unit ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes. Default value: 3 2.1.36 $SERVOFILE_CONFIG[ ] Configuration file for motor/KSD combination Data type char ---- Value Value...

  • Page 28: Curr_Max[ ]

    2.1.39 $CURR_CAL[ ] KSD current calibration Data type real ---- Value Value Unit ---- Assignment ---- In the KR C2, $CURR_CAL[i] always has the value 1. $CURR_CAL[i]=K i = axis number K = current factor Maschinendaten 12.0400 en 28 of 91...

  • Page 29: Curr_Lim[I]

    The file $MACHINE.DAT (continued) 2.1.40 $CURR_LIM[i] Current setpoint limit Data type Value Value Unit Assignment Axis number The current setpoint defines the maximum permissible motor current and thus also defines the torque limit. This value is entered as a percentage of the maximum KSD current. The following relationship exists between the machine data: $CURR_LIM[i]= (max.

  • Page 30: Kps_Curr_Max

    Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 2.1.43 $KPS_CURR_RATED Maximum rated current of a KPS over 60 s (KR C2) Data type real ---- Value Value Unit ---- [1] axis 1 ...

  • Page 31: Kt_Mot[ ]

    Only used with non--KUKA kinematic systems with deactivated acceleration adaptation ($ADAP_ACC=#NONE) and deactivated higher motion profile ($OPT_MOVE=#NONE). With KUKA standard robots, the accelerations are calculated according to the reach, the specified load and the mass inertia. In this case, the times are only used for monitoring the command acceleration.

  • Page 32: Raise_T_Mot[ ]

    Machine Data The corresponding axis must not be allowed to go into current limitation during measurement and should not exceed 90% of Imax. Normal values = 300 to 1000 ms Default value = 500 ms 2.1.48 $RAISE_T_MOT[ ] Motor acceleration time Data type real ----...

  • Page 33: Vel_Cpt1_Ma

    This entry defines the resolution (pulse count) of an encoder: per encoder revolution (for incremental and absolute encoders). per absolute cyclic range (e.g. for multi--pole resolvers). Default value: 4096 for KR C2 Example The default value 4096 is entered for axis 7: $AXIS_RESO[7]=4096 Maschinendaten 12.0400 en...

  • Page 34: Red_Vel_Axc[ ]

    Machine Data 2.1.53 $RED_VEL_AXC[ ] Reduction factor for axial velocity (HOV) Data type ---- Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 Reduction factor for axial velocities during axis--specific jogging and in command mode (PTP motion) relative to the rated motor speed “$VEL_AXIS_MA”.

  • Page 35: Red_Acc_Dyn

    The file $MACHINE.DAT (continued) 2.1.55 $RED_ACC_DYN Reduzierfaktor für Beschleunigung Data type ---- Value Value Unit ---- Assignment ---- This factor can generally be used to reduce all accelerations to the specified value. 2.1.56 $RED_VEL_CPC Reduction factor for CP and orientation velocity Data type ---- Value...

  • Page 36: Red_Jus_Ueb

    ---- Value Value Unit ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes. 2.1.61 $RED_ACC_OV[ ] Axial reduction of acceleration for override Data type Value Value Unit [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ...

  • Page 37: Acc_Car_Limit

    Data type frame ---- Value Value Unit ---- ---- Assignment FRAME {X, Y, Z, A, B, C} This machine datum is used exclusively for KUKA--internal development purposes. 2.1.65 $ACC_CAR_STOP Cartesian acceleration monitoring Data type bool ---- Value Value Unit ----...

  • Page 38: Red_Acc_Emx[ ]

    Machine Data 2.1.66 $RED_ACC_EMX[ ] Reduction factor for path- -maintaining Emergency Stop ramp Data type ---- Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 In the case of a normal Emergency Stop, the maximum current should not be exceeded, otherwise the robot is no longer stopped on the path.

  • Page 39: Warmup_Time

    The file $MACHINE.DAT (continued) 2.1.68 $WARMUP_TIME Warm- -up time of the gears Data type real ---- Value Value Unit max ---- Assignment ---- If the gear units are very cold, the increased friction means that there is insufficient motor torque available for motion with high acceleration and speed. This function makes it possible for the robot not to shut down on reaching the motor limits during the time defined in WARMUP_TIME, but merely to move more slowly.

  • Page 40: St_Tol_Vel[ ]

    Machine Data 2.1.73 $ST_TOL_VEL[ ] Velocity tolerance for standstill detection Data type real 15.0 Value Value Unit max 15.0 [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 Velocity tolerance for standstill detection. This entry is fixed. Default value = 15.0 +$ST_TO_VEL --$ST_TO_VEL...

  • Page 41: Bounce_Time

    The file $MACHINE.DAT (continued) 2.1.75 $BOUNCE_TIME Bounce time for EMT signals Data type ---- Value Value Unit ---- Assignment ---- The signal is only accepted if it remains stable for the whole period defined in $BOUNCE_TIME. 2.1.76 $VEL_AX_JUS[ ] Velocity for EMT mastering Data type real ----...

  • Page 42: L_Emt_Max[ ]

    Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 This machine datum is used exclusively for KUKA--internal development purposes. 2.1.80 $LG_PTP[ ] Loop gain PTP Data type real ----...

  • Page 43: Lg_Cp[ ]

    The file $MACHINE.DAT (continued) 2.1.81 $LG_CP[ ] Loop gain for CP motion Data type real ---- Value Value Unit 1/ms ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$LG_CP[ ]” is used to define the loop gain of the position controller for CP motion. In order to achieve optimal CP motion, the value of the robot motors should be entered here.

  • Page 44: G_Coe_Cur

    Machine Data 2.1.84 $G_COE_CUR Proportional gain of the current controller Data type ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 This machine datum is only relevant for the KR C1 controller. 2.1.85 $G_VEL_PTP[ ] Proportional gain of the speed controller for PTP motion Data type...

  • Page 45: I_Vel_Ptp[ ]

    The file $MACHINE.DAT (continued) 2.1.87 $I_VEL_PTP[ ] I factor of the speed controller for PTP motions Data type real ---- Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$I_VEL_PTP[1]”...

  • Page 46: Vel_Filt[ ]

    Machine Data 2.1.89 $VEL_FILT[ ] Tacho filter Data type real Value Value Unit [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$VEL_FILT[ ]” sets the time constant for the current speed filter. This entry is fixed.

  • Page 47: Acc_Ma

    The file $MACHINE.DAT (continued) 2.1.92 $ACC_MA Data for path acceleration of the TCP Data type real ---- Value Value Unit , degrees/s ---- Assignment ---- CP: Path in m/s Cartesian motions are carried out with the acceleration $RED_ACC_CPC*$ACC_MA.CP. ORI1: Swivel in degrees/s Swivel motions are carried out with the acceleration $RED_ACC_CPC*$ACC_MA.ORI1.

  • Page 48: Acc_Ov

    Machine Data 2.1.94 $ACC_OV Data for path acceleration with changes of override Data type real ---- Value Value Unit , degrees/s ---- Assignment ---- CP: Path in m/s ORI1: Swivel in degrees/s ORI2: Rotation in degrees/s 2.1.95 $RED_T1 Reduction factor for Test 1 mode Data type ---- Value...

  • Page 49: Def_Ov_Jog

    The file $MACHINE.DAT (continued) 2.1.98 $DEF_OV_JOG Default value for override in jog mode Data type Value Value Unit ---- Assignment ---- 2.1.99 $ANA_DEL_FLT Filtering of the analog output Data type ---- ---- Value Value Unit ---- ---- Assignment ---- 2.1.100 $SEQ_CAL Definition of the mastering sequence of the individual axes Data type ----...

  • Page 50: 102 $Red_Cal_Sd

    Machine Data 2.1.102 $RED_CAL_SD Reduction factor for mastering velocity after reaching reference point cam Data type ---- Value Value Unit ---- Assignment ---- Only required for incremental encoders; not relevant for resolvers. 2.1.103 $RED_CAL_SF Reduction factor for mastering velocity before reaching reference point cam Data type ---- Value...

  • Page 51: Maschinendaten 12.0400 En

    The file $MACHINE.DAT (continued) General: For KR C2: robot brakes always open and close simultaneously! Program mode: Bit 2 = 0 Robot brakes do not close during motion pauses within programs. Bit 2 = 1 Robot brakes close during motion pauses within programs in accordance with mode bit 1.

  • Page 52: 105 $Brk_Opentm

    Machine Data 2.1.105 $BRK_OPENTM This machine datum may only be modified if it is absolutely certain that the modification will not endanger persons. Delay of command velocity output Data type Value Value Unit ---- Assignment ---- Delay of command velocity output after the axis brakes have been opened (prevents motion “against the brakes”).

  • Page 53: 107 $Brk_Del_Pro

    The file $MACHINE.DAT (continued) Command position Axis in position output Brake signal (Brakes open) (Brakes closed) Servos activated (on) (off) $BRK_DEL_COM $BRK_DEL_PRO $SERV_OFF_TM Fig. 7 Closing the axis brakes 2.1.107 $BRK_DEL_PRO Time after which the axis brakes are closed on completion of positioning in program mode Data type ----...

  • Page 54: 108 $Brk_Del_Ex

    Time during which axis servo and axis brake overlap in order to locate the axis securely. See Fig. 7. 2.1.110 $MS_DA Modification of this machine datum constitutes a major danger to persons and is thus not permitted. This machine datum is used exclusively for KUKA--internal development purposes. Maschinendaten 12.0400 en 54 of 91...

  • Page 55: 111 $Ffc_Vel

    Assignment ---- Gear torque monitoring On/Off is only used in conjunction with higher motion profile. In the case of non--KUKA kinematic systems with deactivated acceleration adaptation ($ADAP_ACC=#NONE) and deactivated higher motion profile ($OPT_MOVE=#NONE), it must be switched off. TRUE: Activated using the limits (% of the maximum accelerating torques) defined in the data $DYN_DAT[231]--$DYN_DAT[236] in $robcor.dat.

  • Page 56: 114 $Servomode

    2.1.114 $SERVOMODE Controller functions Data type ---- Value Value Unit ---- ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes. 2.1.115 $ACC_ACT_MA Limit value of axial command acceleration Data type ---- Value Value Unit ---- Assignment ---- a_soll_max=$ACC_ACT_MA/100*“Maximum motor speed”/$raise_time...

  • Page 57: 117 $In_Pos_Car

    The file $MACHINE.DAT (continued) “Reduction factor”= $RED_VEL_AXC in jog mode $RED_T1 for PTP/PTP--PTP in T1 mode $VEL_CPT1_MA for CP/CP--CP/CP--PTP/PTP--CP in T1 mode $RED_VEL_AXC for BCO run with PTP $VEL_CPT1_MA for BCO run with CP In all other cases: 100%. 2.1.117 $IN_POS_CAR Cartesian positioning window (translation section) Data type real...

  • Page 58: 119 $In_Pos_Ma[ ]

    Machine Data 2.1.119 $IN_POS_MA[ ] Positioning window Data type real ---- Value Value Unit mm, degrees ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 Positioning window in mm (degrees) Command value $IN_POS_MA Positioning time exceeded Axis in position...

  • Page 59: 120 $Time_Pos[ ]

    The file $MACHINE.DAT (continued) 2.1.120 $TIME_POS[ ] Positioning time Data type Value Value Unit max 512 [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 During positioning, a check is made in the position controller for each axis to see whether the following error is inside the positioning window for [axis velocity = 1] within the time specified ($TIME_POS).

  • Page 60: 122 $Fol_Err_Ma[ ]

    Command speed threshold for encoder monitoring Data type ---- Value Value Unit ---- max ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes. 2.1.124 $COM_VAL_MI[ ] Command speed limitation Data type real 150.0 Value Value Unit max 150.0 [1] axis 1 ...

  • Page 61: 125 $Tl_Com_Val

    The file $MACHINE.DAT (continued) 2.1.125 $TL_COM_VAL Tolerance time after exceeding the command speed limitation Data type Value Value Unit Assignment ---- If the command speed is still greater than the limit value defined in $COM_VAL_MI after the time defined in $TL_COM_VAL has elapsed, the error message “Command velocity exceeded”...

  • Page 62: 129 $Softp_End[ ]

    Machine Data 2.1.129 $SOFTP_END[ ] Software limit switches in the plus direction Data type real ---- Value Value Unit mm, degrees ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 In the mastered state, the range of motion of the axes can be restricted using software limit switches.

  • Page 63: 132 $Emstop_Time

    The file $MACHINE.DAT (continued) 2.1.132 $EMSTOP_TIME Time monitoring for path- -maintaining EMERGENCY STOP Data type ---- Value Value Unit ---- Assignment ---- $EMSTOP_TIME” If the robot is not stationary after the time defined in “ , the drives contactor is switched off. 2.1.133 $ACT_VAL_DIF Max.

  • Page 64: 136 $Ax_Sim_On

    Machine Data #NONE This value is for kinematic systems for which no transformation exists. These can then nonetheless be moved in axis--specific mode. Programs can only be taught in the KRL assistant (axis--specific) or at Expert level (axis--specific). The machine datum also has the values #TEST and #SONDER. These are meaningless, however, and must not be used.

  • Page 65: 138 $Trafo_Axis

    The file $MACHINE.DAT (continued) 2.1.138 $TRAFO_AXIS Number of transformed axes Data type ---- Value Value Unit ---- ---- Assignment ---- This machine datum specifies the number of transformed axes. The value must be between 4 and 6, even if, for example, only three axes are physically present, and can differ from the value of $NUM_AX.

  • Page 66: Maschinendaten 12.0400 En

    Machine Data $LENGTH_A $LENGTH_B Fig. 11 #CC configuration #NR = Jointed--arm robot $LENGTH_A $LENGTH_B Fig. 12 #NR configuration #SC = Gantry/SCARA $LENGTH_A Fig. 13 #SC configuration Maschinendaten 12.0400 en 66 of 91...

  • Page 67: Maschinendaten 12.0400 En

    The file $MACHINE.DAT (continued) $LENGTH_A Fig. 14 #RR configuration $LENGTH_A Fig. 15 #CS configuration Maschinendaten 12.0400 en 67 of 91...

  • Page 68: Maschinendaten 12.0400 En

    Machine Data $LENGTH_A Fig. 16 #NN configuration $LENGTH_A $LENGTH_B Fig. 17 #RN configuration (The other four possible configurations #SN, #CR, #NS and #RC are not implemented.) Maschinendaten 12.0400 en 68 of 91...

  • Page 69: 140 $Wrist_Axis

    The file $MACHINE.DAT (continued) 2.1.140 $WRIST_AXIS Wrist axis identification Data type real ---- Value Value Unit ---- ---- Assignment ---- This configures the kinematic structure of the wrist. Description of the permissible values: #NOH = no wrist transformation #ZEH = in--line wrist; the three wrist axes intersect and are perpendicular to one another, i.e.

  • Page 70: 142 $Def_A4Fix

    Machine Data 2.1.142 $DEF_A4FIX Fixed positioning of axis 4 and simultaneous control of axis 5 in palletizing mode Data type bool ---- Value Value Unit ---- ---- Assignment ---- This machine datum must be set to TRUE for the 5--axis palletizing robot. In the case of Cartesian positions, the orientation is modified so that the flange is always parallel to the floor.

  • Page 71: 144 $Spindle

    The file $MACHINE.DAT (continued) 2.1.144 $SPINDLE Spindles Data type Value Value Unit ---- Assignment ---- Description of the permissible values: 0 = No 1 = Yes 2.1.145 $AXIS_SEQ Change in sequence from axis ... to axis ... Data type real ---- Value Value...

  • Page 72: 146 $Axis_Dir[ ]

    Machine Data 2.1.146 $AXIS_DIR[ ] Direction of rotation of the axes for the transformation Data type ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 It is only the direction of rotation for the transformation that is defined by the machine datum. The rotational axis and thus direction of rotation (for the transformation) of the main axes is defined by the definition of the coordinate systems IRO and X3.

  • Page 73: 148 $Inc_Extax[ ]

    The file $MACHINE.DAT (continued) 2.1.148 $INC_EXTAX[ ] Axis- -specific increment of external axes Data type real ---- Value Value Unit increments ---- Assignment [1] axis 1 ... [6] axis 6 The increment for an axis is the distance moved by the robot each time a jog key is pressed. Example $INC_EXTAX[1]=10.0 $INC_EXTAX[2]=10.0...

  • Page 74: 151 $Singul_Pos

    Machine Data 2.1.151 $SINGUL_POS Treatment of an undefined joint positions Data type Value Value Unit ---- Assignment [1] [2] [3] Configuration of the treatment of undefined joint positions on specification of a singular PTP end point. Description of the permissible values: The value 0 means that the corresponding axis is moved to 0 degrees, while the value 1 means that the axis value of the start point is used.

  • Page 75: 154 $Ori_Check

    The file $MACHINE.DAT (continued) 2.1.154 $ORI_CHECK Orientation check at CP end points (only with five- -axis robots) Data type ---- Value Value Unit ---- ---- Assignment ---- In the case of 5--axis robots, one degree of freedom is missing. This means that it is not possible to set a default value for the orientation angle C.

  • Page 76: 156 $Tflwp

    Machine Data 2.1.156 $TFLWP Offset between flange point and wrist point coordinate system Data type real ---- Value Value Unit ---- ---- Assignment FRAME {X, Y, Z, A, B, C} (See Fig. 18.) Link frame between the last wrist coordinate system (WP) and the externally visible flange system (FL) (representation of FL system in the WP system).

  • Page 77: 160 $Dh_4

    The file $MACHINE.DAT (continued) 2.1.160 $DH_4 Denavit- -Hartenberg parameters Data type real ---- Value Value Unit ---- ---- Assignment ---- Length A DHART_A Length D DHART_D Angle a DHART_ALPHA Denavit--Hartenberg parameters a, d and a for frame between axis 4 and 5, or 5 and 6. $DH_4.D is always 0 and two consecutive wrist axes must not be “quasi--parallel”, i.e.

  • Page 78: 162 $Spin_A

    Machine Data 2.1.162 $SPIN_A Data type ---- ---- Value Value Unit ---- ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes. 2.1.163 $SPIN_B Data type ---- ---- Value Value Unit ---- ---- Assignment ---- This machine datum is used exclusively for KUKA--internal development purposes.

  • Page 79: 166 $Spc_Kin

    Data type real ---- Value Value Unit ---- ---- Assignment [1] ... [30] This machine datum is used exclusively for KUKA--internal development purposes. 2.1.167 $ASR_ERROR Permissible speed deviation (external position encoder/motor encoder) Data type real ---- Value Value Unit ----...

  • Page 80: 169 $Ax_Energy_Max[ ]

    Machine Data 2.1.169 $AX_ENERGY_MAX[ ] Maximum energy of the axis Data type real ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 The value must be calculated on a case--by--case basis. The maximum energy E of the axis consists of the potential energy E and the kinetic...

  • Page 81: 169.2Potential Energy

    The file $MACHINE.DAT (continued) 2.1.169.2Potential energy The formula for the potential energy E = m ⋅ g ⋅ ∆h m: Mass [kg] g: Gravitational acceleration 9.81 [m/s ∆h: Height difference [m] 2.1.169.3Maximum energy of the linear unit For a linear unit in the plane, ∆h = 0: ⋅...

  • Page 82: 172 $Brk_Torque[ ]

    Machine Data 2.1.172 $BRK_TORQUE[ ] Dynamic braking torque Data type real ---- Value Value Unit ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 The energy taken up by the brake depends on the dynamic braking torque. Example The first external axis is driven by a motor of type D: $BRK_TORQUE[7]=5...

  • Page 83: Machine Data For External Axes

    The file $MACHINE.DAT (continued) 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)”...

  • Page 84: Ex_Ax_Async

    Machine Data Asynchronous external axes: Motion of the external axes starts and stops independently of the robot axes. Bit no. Meaning Bit = 1 ----> corresponding axis is switched to asynchronous mode Bit = 0 ----> corresponding axis is switched to synchronous mode Example All external axes are switched to synchronous mode: $EX_AX_ASYNC=’B0000’...

  • Page 85: Maschinendaten 12.0400 En

    The file $MACHINE.DAT (continued) Description: In the machine data, $ASYNC_T1_FAST specifies the external axes for which the velocity reduction in controller mode T1 can be canceled for ASYPTP motions. Whether or not an ASYPTP motion is executed in T1 mode without velocity reduction, i.e. at program velocity, depends on the axes involved in the motion.

  • Page 86: Async_Ex_Ax_Decouple

    Machine Data 2.2.4 $ASYNC_EX_AX_DECOUPLE Decoupled external axes Data type ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 Decoupling of external axes with the position and DSE data saved for subsequent recoupling.

  • Page 87: Interaction With System Variables

    The file $MACHINE.DAT (continued) $ASYNC_EX_AX_DECOUPLE can only be set in the brake control mode “Individual external axis brake control” (bit 3 of $BRK_MODE is set). Invalid assignments will be rejected and a corresponding error message will be generated. Bit no. Meaning 1= axis decoupled 0= axis coupled...

  • Page 88: Ex_Kin

    Machine Data 2.2.5 $EX_KIN External kinematic systems Data type real ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$EX_KIN” establishes the link between the external transformation in $MACHINE.DAT and the external kinematic system in $CONFIG.DAT.

  • Page 89: Et1_Name[ ]

    The file $MACHINE.DAT (continued) 2.2.7 $ET1_NAME[ ] Name of the transformation Data type char ---- Value Value Unit ---- ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$ET1_NAME[ ]” contains the name of the transformation. Example $ET1_NAME[]=“REINHARD_1”...

  • Page 90: Et1_Ta2A1

    Machine Data “$ET1_TA2A1” defines the offset between transformation axis 1 (first external axis used) and the pivot point of axis 2 (second external axis used in this external transformation, ET1). Example FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} 2.2.10 $ET1_TA3A2 Frame linkage between A2 and A3 Data type real...

  • Page 91: Et1_Tpinfl

    The file $MACHINE.DAT (continued) 2.2.12 $ET1_TPINFL Frame linkage between the flange and the measuring point Data type real ---- Value Value Unit mm, degrees ---- [1] axis 1 ... [6] axis 6 Assignment [7] external axis 1 ... [12] external axis 6 “$ET1_TPINFL”...
  • Page 92 Index Braking torque, 82 $BRK_COOL_OFF_COEFF[ ], 81 $A4_PAR, 69 $BRK_DEL_COM, 52 $ACC_ACT_MA, 56 $BRK_DEL_EX, 54 $ACC_CAR_ACT, 37 $ACC_CAR_LIMIT, 37 $BRK_DEL_PRO, 53 $ACC_CAR_STOP, 37 $BRK_ENERGY_MAX[ ], 81 $ACC_CAR_TOOL, 36 $BRK_MAX_TM, 62 $ACC_MA, 47 $BRK_MODE, 50 $ACC_OV, 48 $BRK_OPENTM, 52 Acceleration, 35 $BRK_TORQUE[ ], 82 Acceleration for override, 36 Acceleration monitoring, 36, 37...
  • Page 93 Index External kinematic systems, 88 External position encoder/motor encoder, 79 $DECEL_MB[ ], 43 Decoupled external axes, 86 $DEF_A4FIX, 70 $DEF_A5LINK, 70 $FFC_TORQ, 55 $DEF_FLT_CP, 48 $FFC_VEL, 55 $DEF_FLT_PTP, 48 Filtering of the analog output, 49 $DEF_OV_JOG, 49 Finitely rotating, 10 Denavit--Hartenberg parameters, 77 Detection time, 40 Fixed positioning of axis 4, 70...
  • Page 94 Index Motor characteristic, 31 Motor current, 39 $KINCLASS, 63 Motor/KSD combination, 27 Kinematic classes, 63 $MOTOR_POLE_NUMBER[ ], 27 Kinetic energy, 80 $MS_DA, 54 KPS, 18 KPS module, 21 $KPS_CURR_MAX, 30 $KPS_CURR_RATED, 30 KSD current, 28 $NINPUT_SENSORCHANNEL[Ln], 24 KSD output, 28 $NINPUT_SENSORTYPE[Ln], 23 KT factor, 31 $NINPUT_SUBCHANNEL[Ln], 24...
  • Page 95 Index $SLAVE_TORQUE_RATIO[ ], 23 $SOFTN_END[ ], 61 $RAISE_T_MOT[ ], 32 $SOFTP_END[ ], 62 $RAISE_TIME[ ], 31 Software limit switches, 61, 62 $RAT_EXT_ENC, 79 $SPC_KIN, 79 $RAT_MOT_AX[ ], 15 Speed channel, 24 $RAT_MOT_ENC[ ], 16 Speed controller, 19, 20, 44, 45 Rated motor speed, 32 Speed controller gain, 42 RDC inputs, 17...
  • Page 96 Index Transformed axes, 65 Transmission ratio, 16 Turntable, 81 $TX3P3, 76 $V_R1MADA[ ], 9 $VEL_ACT_MA, 56 $VEL_AX_JUS[ ], 41 $VEL_AXIS_MA[ ], 32 $VEL_CP_COM, 35 $VEL_CP_T1, 35 $VEL_CPT1_MA, 33 $VEL_DSE_MA[ ], 33 $VEL_ENC_CO, 60 $VEL_FILT[ ], 46 $VEL_MA, 47 Velocity feed forward control, 55 Version identifier, 9 Warm--up functionality, 38 Warm--up time of the gears, 39...

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