2
The file $MACHINE.DAT (continued)
63 of 91
Maschinendaten 12.0400 en
2.1.132 $EMSTOP_TIME
Time monitoring for path--maintaining EMERGENCY STOP
Data type
int
min
Value
----
Unit
ms
Value
max ----
Assignment
----
If the robot is not stationary after the time defined in “
$EMSTOP_TIME”
, the drives
contactor is switched off.
2.1.133 $ACT_VAL_DIF
Max. permissible difference of encoder actual values
Data type
int
min
Value
----
Unit
----
Value
max ----
Assignment
----
Maximum permissible difference of the encoder actual values, in increments, before and
after the controller is booted.
2.1.134 $TRAFONAME
Name of coordinate transformation
Data type
char
min
Value
----
Unit
----
Value
max ----
Assignment
----
This makes it possible to assign the transformation a symbolic name. It is also compared with
the robot names programmed on the RDC ($ROBTRAFO).
2.1.135 $KINCLASS
Kinematic classes
Data type
char
min
Value
----
Unit
----
Value
max ----
Assignment
----
The machine datum defines the “kinematic class”.
Permissible values are:
G
#STANDARD
This value activates a transformation that is configured using the following data.
