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Kuka KR C2, Operating Handbook

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Machine Data

82 of 91

Maschinendaten 12.0400 en

2.1.172 $BRK_TORQUE[ ]

Dynamic braking torque

Data type

real

min

Value

----

Unit

Nm

Value

max ----

Assignment

[1] axis 1 ... [6] axis 6

[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

Summary of Contents for KR C2

Page 1: ...Maschinendaten 12 0400 en 1 of 91 OPERATING HANDBOOK KR C2 Machine Data Issued 05 Feb 2005 Version 00 ...

Page 2: ... to these functions however in the case of a replacement or service work We have checked the content of this documentation for conformity with the hardware and software described Nevertheless discrepancies cannot be precluded for which reason we are not able to guarantee total conformity The information in this documentation is checked on a regular basis however and necessary corrections will be i...

Page 3: ..._VEL_PTP 20 2 1 17 LOOP_DIRECTION 20 2 1 18 SLAVE_LOOP_FOL_CRITICAL 20 2 1 19 SLAVE_LOOP_FOL_ALARM 21 2 1 20 SLAVE_LOOP_SPEED_ALARM 21 2 1 21 SLAVE_LOOP_PMCHANNEL Ln 21 2 1 22 LOOP_TYPE Ln 21 2 1 23 LOOP_TYPE_ATTRIBUTE 22 2 1 24 MASTER_LOOP Ln 22 2 1 25 SLAVE_TORQUE_RATIO 23 2 1 26 NINPUT_SENSORTYPE Ln 23 2 1 27 NINPUT_SENSORCHANNEL Ln 24 2 1 28 NINPUT_SUBCHANNEL Ln 24 2 1 29 POSINPUT_SENSORTYPE L...

Page 4: ...TOOL 36 2 1 63 ACC_CAR_LIMIT 37 2 1 64 ACC_CAR_ACT 37 2 1 65 ACC_CAR_STOP 37 2 1 66 RED_ACC_EMX 38 2 1 67 WARMUP_RED_VEL 38 2 1 68 WARMUP_TIME 39 2 1 69 COOLDOWN_TIME 39 2 1 70 WARMUP_CURR_LIMIT 39 2 1 71 WARMUP_MIN_FAC 39 2 1 72 WARMUP_SLEW_RATE 39 2 1 73 ST_TOL_VEL 40 2 1 74 ST_TOL_TIME 40 2 1 75 BOUNCE_TIME 41 2 1 76 VEL_AX_JUS 41 2 1 77 SEN_DEL 41 2 1 78 L_EMT_MAX 42 2 1 79 G_VEL_CAL 42 2 1 80...

Page 5: ...POS_CAR 57 2 1 118 IN_POS_ORI 57 2 1 119 IN_POS_MA 58 2 1 120 TIME_POS 59 2 1 121 IN_STILL_MA 59 2 1 122 FOL_ERR_MA 60 2 1 123 VEL_ENC_CO 60 2 1 124 COM_VAL_MI 60 2 1 125 TL_COM_VAL 61 2 1 126 TOUCH_VEL 61 2 1 127 TOUCH_ACC 61 2 1 128 SOFTN_END 61 2 1 129 SOFTP_END 62 2 1 130 AXWORKSPACE 62 2 1 131 BRK_MAX_TM 62 2 1 132 EMSTOP_TIME 63 2 1 133 ACT_VAL_DIF 63 2 1 134 TRAFONAME 63 2 1 135 KINCLASS 63...

Page 6: ...168 RAT_EXT_ENC 79 2 1 169 AX_ENERGY_MAX 80 2 1 169 1Kinetic energy 80 2 1 169 2Potential energy 81 2 1 169 3Maximum energy of the linear unit 81 2 1 169 4Maximum energy of a turntable 81 2 1 170 BRK_ENERGY_MAX 81 2 1 171 BRK_COOL_OFF_COEFF 81 2 1 172 BRK_TORQUE 82 2 2 Machine data for external axes 83 2 2 1 EX_AX_NUM 83 2 2 2 EX_AX_ASYNC 83 2 2 3 ASYNC_T1_FAST 84 2 2 4 ASYNC_EX_AX_DECOUPLE 86 2 2...

Page 7: ...7 of 91 Maschinendaten 12 0400 en ...

Page 8: ...quired for operation of the robot hardware The drives motors and axis kinematic systems are defined in the file machine dat All the machine data contained in the file machine dat are described in this documentation 1 2 System requirements 1 2 1 Software This description is valid from KR C2 system software release 5 2 1 2 2 Hardware G Controller type KR C2 Special training is required for configuri...

Page 9: ... 1 Description of the individual machine data 2 1 1 V_R1MADA Version identifier Data type char min Value Unit Value max 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 int min Value Unit Value max Assignment Function generators define the number of technology packages Defaul...

Page 10: ...traversing units The axis value is converted to millimeters A check is carried out for software limit switches 2 SPINDLE special kinematics and spindle drives The axis value is converted to millimeters A check is carried out for software limit switches 3 ROTATIONAL standard case rotational axes turning range from 358 to 358 The axis value is converted to degrees A check is carried out for software...

Page 11: ...ing unit i e axis type 1 AXIS_TYPE 7 1 The type of axis is not automatically defined by the definition of the main axis type In the case of a SCARA CC axis 1 must be explicitly identified as a linear axis 2 1 5 COUP_COMP Compensation of the mechanical coupling between the wrist axes Data type frame min Value Unit Value max Assignment A x A y Nn Dn An axis m is rotated through a defined angle and t...

Page 12: ...ering notch and the mathematical zero point of the axes in mm degrees At the mechanical zero point the value of MAMES is assigned to the axis counter MAMES should be in the range 180 degrees for rotational axes For robot axes Mechanical zero position Cannon position see Fig 1 Mathematical zero position Extended position see Fig 1 Cannon position Extended position Fig 1 Zero positions MAMES i K i a...

Page 13: ... axes is illustrated in Fig 2 X Y A 1 A 2 A 4 A 3 A 5 A 6 ROBROOT Z WORLD X Y Z BASE Workpiece X Y Z TOOL POS_ACT X Y Z Robot Fig 2 Frame chain without external axes The BASE coordinate system is used as the reference system to define the position of the workpiece The programming of the robot is done in the BASE coordinate system which has the WORLD coordinate system as its reference coordinate sy...

Page 14: ...4 A 3 A 5 A 6 Z X Y Z X Y Z X Y Z X Y Z ROBROOT_C t Robot ERSYSROOT WORLD ERSYS Linear traversing unit TOOL POS_ACT BASE ROBROOT Fig 3 Frame chain with linear unit The external ROBROOT kinematic system lies in the offset from WORLD to ROBROOT With every motion of the ROBROOT kinematic system the position in space of the robot changes As allowance must always be made for this external axis when cal...

Page 15: ...ation of the axis can be changed by means of a negative sign in the numerator N RAT_MOT_AX i N x D y i axis number x value of numerator N i e motor y value of denominator D i e axis Unit for linear axes Number of motor revolutions per 1000 mm travel Example 1 Rotational axis with gear unit Every 10th motor revolution the axis turns through 1 revolutions RAT_MOT_AX i N 100 D 1 Example 2 Linear axis...

Page 16: ...ment on the DSE Data type int min Value 0 Unit Value max 18 Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 Until now this variable has determined which of the 8 DSE channels is assigned to an axis An and thus also which slot on the RDC With the new definition of this variable a control loop loop on the DSE is now assigned to an axis An There are 8 control loops corresponding to ...

Page 17: ... by the axis There are eight channels available on the first DSE With a standard robot channels 7 and 8 can thus be used for external axes The RDC inputs are also defined using DSECHANNEL For unused axes DSECHANNEL 0 must be entered DSECHANNEL i K i robot axis K DSE channel and RDC channel Example Axes 1 and 2 occupy DSE channels 1 and 2 and slots X1 and X2 on the RDC card axis 7 occupies DSE chan...

Page 18: ...gnment of the master axis is entered here For slave axes the KPS is defined using the variable SLAVE_LOOP_PMCHANNEL see below Assignment of the axes to the drive interfaces of a single KPS The following applies for robot axes 1 to 6 PMCHANNEL 1 20 PMCHANNEL 2 20 PMCHANNEL 3 20 PMCHANNEL 4 20 PMCHANNEL 5 20 PMCHANNEL 6 20 The following applies for external axes 7 and 8 PMCHANNEL 7 21 PMCHANNEL 8 21...

Page 19: ...NEL 7 21 This machine datum has been expanded for external drive boxes The meaning of the existing contents remains unchanged A 1 before the entry signifies that the axis module concerned has an SBM Single Brake Module 2 1 14 LOOP_LG_PTP Position controller gain Data type real min Value Unit Value max Assignment Defines the position controller gain of the control loop The value applies to PTP and ...

Page 20: ...to the master Description of the valid values Control loop of a position controlled slave Slave Pos 1 Same direction as master 1 Opposite direction to that of master Control loop of a torque controlled slave Slave Torq 1 Same torque or command current as master 1 Opposite torque or command current to that of master 2 1 18 SLAVE_LOOP_FOL_CRITICAL Percentage value for configuration of a max deviatio...

Page 21: ...threshold If the actual speed exceeds the threshold value PATH MAINTAINING BRAKING is triggered The value is specified in rpm 2 1 21 SLAVE_LOOP_PMCHANNEL Ln Definition of the KPS module for slave control loops Data type int min Value Unit Value max Assignment SLAVE_LOOP_PMCHANNEL Ln y defines the KPS module connected to a slave control loop In the case of master loops the value 0 must be entered a...

Page 22: ... case of 2 KSDs connected in parallel to a single motor it is not possible to connect the resolver of the motor to a CAN bus 2 1 23 LOOP_TYPE_ATTRIBUTE Additional characteristics of the control loop Data type int min Value 1 Unit Value max 18 Assignment Bit array Required for certain Loop_types currently only Loop_type Ln 5 for the detailed definition of linked characteristics Default value 0 This...

Page 23: ...ve to the master It is only required for the control loop of a torque controlled slave Slave Torq 2 1 26 NINPUT_SENSORTYPE Ln Sensor type for the speed input Data type int min Value 1 Unit Value max 5 Assignment NINPUT_SENSORTYPE Ln y defines the sensor type for the speed input of the DSE control loop Ln This describes the hardware connection Valid values for NINPUT_SENSORTYPE are y 1 Sensor resol...

Page 24: ... loop may come from different KSDs 2 1 28 NINPUT_SUBCHANNEL Ln Sub channel for speed channel of a DSE control loop Data type int min Value 1 Unit Value max 4 Assignment NINPUT_SUBCHANNEL Ln y This variable can be used to define a sub channel for each speed channel of a DSE control loop Ln This can be used for a more detailed definition for example if an encoder supplies different values on a singl...

Page 25: ...POSINPUT_SENSORTYPE Ln Position input of the DSE control loop Data type int min Value Unit Value max Assignment POSINPUT_SENSORTYPE Ln y Like NINPUT_SENSORTYPE for the position input of the DSE control loop Ln 2 1 30 POSINPUT_SENSORCHANNEL Ln Position input of the DSE loop Data type int min Value Unit Value max Assignment POSINPUT_SENSORCHANNEL Ln y Like NINPUT_SENSORCHANNEL for the position input...

Page 26: ...rive gear ratio of the slave axis Data type frame min Value Unit Value max Assignment Gear ratio motor axis of a slave control loop The ratio motor rotary encoder of the slave must be the same as that of the master Only for slave drives Example LOOP_RAT_MOT_AX 2 N 20 D 1 2 1 34 LOOP_RAT_EXTPOS_AX Ratio of the sensor gear Data type frame min Value Unit Value max Assignment Gear ratio of the externa...

Page 27: ...ata type char min Value Unit Value max Assignment The servo file entered must be located in the R1 MADA directory For each permissible motor KSD combination there is a special configuration file which must be entered in the machine data Example Axis 1 is driven by a motor of type B S Siemens and controlled using a KSD1 32 CHAR SERVOFILE1 16 SERVOFILE1 KSD_32_MB_S 2 1 37 SERVOFILEKPS1 Servo file KP...

Page 28: ...ue 8 Unit A Value max 64 Assignment Maximum effective current at the KSD output CURR_MAX i K i axis number K max KSD current Arms KSD type KSD 1 64 KSD 1 48 KSD 1 32 KSD 1 16 KSD 1 08 CURR_MAX 64 48 32 16 8 Example Axis 7 is controlled using a KSD1 48 CURR_MAX 7 48 2 1 39 CURR_CAL KSD current calibration Data type real min Value Unit Value max Assignment In the KR C2 CURR_CAL i always has the valu...

Page 29: ...nt Imax CURR_MAX i x 100 CURR_LIM i K i axis number K current limit Example For a motor of type E with a KSD1 08 the following applies CURR_LIM 7 3 8 x 100 91 If the motor current is set too high this can result in damage to the gear unit or demagnetization of the permanent magnets in the motors 2 1 41 CURR_MON i Permissible standstill current of the motor Data type real min Value Unit A Value max...

Page 30: ...l axes for jogging Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 Definition of the max limit for the torque and motor current for jogging the external axes This value is entered as a percentage of the maximum KSD current It is used for example for machine protection when jogging a position controlled electric motor driven weld gun On clos...

Page 31: ...ependent on motor type 2 1 47 RAISE_TIME Axis acceleration time Data type real min Value Unit ms Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 RAISE_TIME FILTER 2 is the time in ms in which the axis can be accelerated to its rated speed VEL_AXIS_MA FILTER is usually DEF_FLT_PTP If the value is set too low a corresponding error message is generated This means that the ...

Page 32: ...o the rated speed without an axis These data are incorporated in the calculation of the dynamic model and monitored Default value 5 0 Example RAISE_T_MOT 7 5 0 RAISE_T_MOT 8 5 0 The motor speed must be lower than the maximum frequency 266 Hz of the RDC 2 1 49 VEL_AXIS_MA Rated motor speed Data type real min Value Unit rpm Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 ...

Page 33: ...al axis 6 Actual speed monitoring on the DSE v_ist_max v_soll_max VEL_DSE_MA 100 v_soll_max is the currently valid command velocity limit 2 1 52 AXIS_RESO Resolution of the measuring system Data type int min Value Unit increments Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 This entry defines the resolution pulse count of an encoder G per encoder revolution for incre...

Page 34: ...ocity to the 250 mm s predefined in HOV Default value 10 Example RED_VEL_AXC 7 10 RED_VEL_AXC 8 10 2 1 54 RED_ACC_AXC Reduction factor for axial acceleration HOV Data type int min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 RED_ACC_AXC is the reduction factor for axial acceleration during axis specific jogging and in command mode PTP motion relative to th...

Page 35: ...actor for CP and orientation velocity in Cartesian jogging and command mode CP 2 1 57 RED_ACC_CPC Reduction factor for CP and orientation acceleration Data type int min Value Unit Value max Assignment Reduction factor for CP and orientation acceleration in Cartesian jogging and command mode CP 2 1 58 VEL_CP_T1 Maximum CP velocity in Test1 mode Data type real min Value Unit m s Value max 0 25 Assig...

Page 36: ... 6 7 external axis 1 12 external axis 6 This setting allows you to reduce the accelerations caused by changes to the override setting in axial motions This entry is fixed Default value 100 Example RED_ACC_OV 7 100 RED_ACC_OV 8 100 2 1 62 ACC_CAR_TOOL Cartesian acceleration monitoring relative to the flange Data type frame min Value Unit Value max Assignment FRAME X Y Z A B C If the effective accel...

Page 37: ...nts of ACC_CAR_LIMIT is zero At present only the components ABS X Y and Z are used The components A B and C are not evaluated The stop reaction is only triggered if the machine datum ACC_CAR_STOP is set to TRUE If the value is FALSE no stop reaction takes place 2 1 64 ACC_CAR_ACT For future expandability to rotational acceleration Data type frame min Value Unit Value max Assignment FRAME X Y Z A B...

Page 38: ...t should not be exceeded otherwise the robot is no longer stopped on the path The exact value can be determined using the oscilloscope Path maintaining E Stop ramp ms RAISE_TIME ms RED_ACC_EMX 100 The corresponding axis should not be allowed to go into current limitation Default value 100 Example RED_ACC_EMX 7 100 RED_ACC_EMX 8 100 2 1 67 WARMUP_RED_VEL Warm up functionality Data type bool min Val...

Page 39: ... for all PTP motions As soon as the current for one axis is greater than the maximum current specified in WARMUP_CURR_LIMIT an internal override is multiplied by the factor WARMUP_MIN_FAC in order to reduce the motor currents This internal override is subsequently reset to 100 in several steps WARMUP_SLEW_RATE 2 1 69 COOLDOWN_TIME Cool down time Data type real min Value Unit min Value max Assignme...

Page 40: ... 6 axis 6 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 t1 ST_TOL_TIME t2 ST_TOL_TIME Axis stopped t v Fig 4 Standstill detection 2 1 74 ST_TOL_TIME Detection time Data type int min Value 15 0 Unit ms Value max 15 0 Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 See Fig 4 ...

Page 41: ... axis moves during EMT mastering The user can thus set the velocity in such a way that the EMT can detect the reference notch reliably The vertical velocity required by the EMT should be 250 mm s Default value 0 1 2 1 77 SEN_DEL Distance traveled by EMT during signal propagation delay Data type int min Value Unit increments Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis ...

Page 42: ...or for speed controller gain Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 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 min Value Unit 1 ms Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 LG_PTP is used to set the loop gain of the posit...

Page 43: ...ssignment In order to achieve optimal CP motion the value of the equivalent time constant of the slowest speed control loop should be entered here Default value 0 1 2 1 83 DECEL_MB Braking ramp for dynamic braking Data type real min Value Unit ms Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 In the event of dynamic braking being triggered by a fault situation it is po...

Page 44: ...Generally the P component should be as high as possible However if the P component is too high this can render the control loop unstable this results in poor positioning or causes the drive to buzz loudly The value depends on the motor type 2 1 86 G_VEL_CP Proportional gain of the speed controller for CP motion Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 ...

Page 45: ... low this cause vibrations Guide values 90 for small external motors types C0 C CS D E 200 500 for large external motors types A01 A0 A B G1 I I1 H HS 2 1 88 I_VEL_CP I factor of the speed controller for CP motion Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 I_VEL_CP is the integral action factor of the speed controller for CP motion The...

Page 46: ...Assignment The minimum constant travel phase is used to avoid sudden loading of the robot arm Such loading is caused by abrupt changes between acceleration and braking with short distances between points v t TM_CON_VEL 0 TM_CON_VEL 10 10 Fig 5 Minimum constant travel phase 2 1 91 APO_DIS_PTP Maximum approximation distance for PTP motions Data type real min Value Unit degrees mm Value max Assignmen...

Page 47: ... motions are carried out with the acceleration RED_ACC_CPC ACC_MA ORI2 Incorrect use can significantly shorten the service life of the gear units 2 1 93 VEL_MA Data for path velocity of the TCP Data type real min Value Unit m s degrees s Value max Assignment CP Path in m s Cartesian motions are carried out with the velocity RED_VEL_CPC VEL_MA CP ORI1 Swivel in degrees s Swivel motions are carried ...

Page 48: ... s2 2 1 95 RED_T1 Reduction factor for Test 1 mode Data type int min Value Unit Value max Assignment Linear change in velocity for PTP and CP motions V RED_T1 100 VEL CP Quadratic change in acceleration A RED_T1 100 2 ACC CP 2 1 96 DEF_FLT_PTP Default mean value filter for PTP motion Data type int min Value Unit ms Value max Assignment 2 1 97 DEF_FLT_CP Default mean value filter for CP motion Data...

Page 49: ...the mastering sequence of the individual axes Data type bin min Value Unit Value max Assignment 1 Step 1 12 Step 12 Bit sequence LSB Axis 1 MSB Axis 12 2 1 101 DIR_CAL Definition of the mastering direction for each axis Data type bin min Value Unit Value max Assignment Defines the mastering direction for each axis Bit n 0 Reference point of axis n is approached in the positive direction Bit n 1 Re...

Page 50: ... max Assignment Only required for incremental encoders not relevant for resolvers 2 1 104 BRK_MODE This machine datum may only be modified if it is absolutely certain that the modification will not endanger persons Brake control mode Data type bin min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 BRK_MODE defines the brake control mode Bit no 3 2 1 0 Meanin...

Page 51: ...in the same way as the robot brakes in accordance with mode bits 0 2 Bit 3 1 Mathematically coupled external axes respond in the same way as the robot axes External axes that are not mathematically coupled function independently of the robot axes if they are controlled separately Default settings of the brake mode G Robot brakes close at end of command G Robot brakes close simultaneously G Robot b...

Page 52: ...pe int min Value 1 Unit ms Value max Assignment Delay of command velocity output after the axis brakes have been opened prevents motion against the brakes Start Open brakes Brake open Activate servos Command value BRK_OPENTM Signal processing time Fig 6 Delay 2 1 106 BRK_DEL_COM Time after which the axis brakes are closed on completion of positioning in the command mode Data type int min Value Uni...

Page 53: ...Brake signal 1 Brakes open 0 Brakes closed Servos activated 1 on 0 off t 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 int min Value Unit ms Value max Assignment See Fig 7 ...

Page 54: ...xes close This entry is only active if bit 3 is set in BRK_MODE see Section 2 1 104 2 1 109 SERV_OFF_TM Axis servo and axis brake overlap time Data type int min Value Unit ms Value max Assignment 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 pe...

Page 55: ...tation ADAP_ACC NONE and deactivated higher motion profile OPT_MOVE NONE it must be switched off Description of the valid values TRUE activated FALSE deactivated 2 1 113 GEARTORQ_MON Control of gear torque monitoring Data type bool min Value Unit Value max Assignment Gear torque monitoring On Off is only used in conjunction with higher motion profile In the case of non KUKA kinematic systems with ...

Page 56: ...n factor 100 Maximum motor speed G VEL_AXIS_MA with deactivated energy monitoring energy_mon false and non KUKA kinematic systems G With active energy monitoring energy_mon true a value is calculated from the dynamic model DYN_DAT 249 254 2 1 116 VEL_ACT_MA Limit value of axial command velocity Data type real min Value Unit Value max Assignment V_soll_max VEL_ACT_MA 100 Maximum motor speed Reducti...

Page 57: ...P CP CP PTP PTP CP in T1 mode G RED_VEL_AXC for BCO run with PTP G 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 min Value Unit mm Value max Assignment 2 1 118 IN_POS_ORI Cartesian positioning window orientation section Data type real min Value Unit degrees Value max Assignment ...

Page 58: ...d Axis in position t Positioning window in mm degrees TIME_POS Fig 8 Positioning window 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 0 within the time specified TIME_POS If the following error is larger after this time has elapsed a corresponding error message is generated Default v...

Page 59: ...ler for each axis to see whether the following error is inside the positioning window for axis velocity 1 within the time specified TIME_POS This entry is fixed Default value 512 See Fig 8 2 1 121 IN_STILL_MA Factor for standstill window see Fig 9 Data type int min Value Unit Value max Assignment The size of the window is defined by IN_STILL_MA IN_POS_MA Standstill window Axes limit value exceeded...

Page 60: ...xceeded Ax is generated and maximum braking is triggered This entry is fixed Default value 20 0 2 1 123 VEL_ENC_CO Command speed threshold for encoder monitoring Data type int min Value Unit Value 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 min Value 150 0 Unit Value max 150 0 Assignment 1 a...

Page 61: ... exceeded is generated This entry is fixed Default values 50 0 and 50 0 2 1 126 TOUCH_VEL Maximum retract velocity for touch sensor Data type int min Value Unit Value max Assignment 2 1 127 TOUCH_ACC Retract acceleration for touch sensor Data type int min Value Unit Value max Assignment 2 1 128 SOFTN_END Software limit switches in the minus direction Data type real min Value Unit mm degrees Value ...

Page 62: ..._END 8 190 0 2 1 130 AXWORKSPACE Axis specific workspaces Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 AXWORKSPACE is an axis specific workspace monitoring function similar to the Cartesian workspace monitoring function A maximum of eight workspaces can be defined via KRL system variables 2 1 131 BRK_MAX_TM Maximum braking time for path ...

Page 63: ...ignment 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 classe...

Page 64: ... Data type real min Value Unit Value max Assignment Bit array of the simulated axes This allows the simulation of axes that may not actually be present It is thus possible for example to implement main axis kinematic systems with fewer than three degrees of freedom The thing to remember here is that the position of the simulated axes when the system is run up is initialized either to 0 configured ...

Page 65: ... 139 MAIN_AXIS Main axis identification Data type real min Value Unit Value max Assignment Main axes is the designation given to the first three robot axes These can be designed as either rotating or linear joints Two consecutive main axes are either parallel or perpendicular to one another This means that a maximum of 12 geometrically different arrangements are possible Eight of these arrangement...

Page 66: ...2 0400 en LENGTH_A LENGTH_B Ziro Yiro Xiro r3 q3 P3 Fig 11 CC configuration G NR Jointed arm robot LENGTH_A LENGTH_B Ziro Yiro Xiro r3 q3 P3 Fig 12 NR configuration G SC Gantry SCARA LENGTH_A Ziro Yiro Xiro r3 q3 P3 Fig 13 SC configuration ...

Page 67: ...2 The file MACHINE DAT continued 67 of 91 Maschinendaten 12 0400 en G RR Ziro Yiro Xiro LENGTH_A Ziro Yiro Xiro Fig 14 RR configuration G CS Ziro Yiro Xiro LENGTH_A r3 q3 P3 Fig 15 CS configuration ...

Page 68: ...daten 12 0400 en G NN LENGTH_A Ziro Yiro Xiro q3 P3 r3 LENGTH_B Fig 16 NN configuration G RN LENGTH_A LENGTH_B Ziro Yiro Xiro r3 q3 P3 Fig 17 RN configuration The other four possible configurations SN CR NS and RC are not implemented ...

Page 69: ...s a4 a5 d5 0 are defined any value greater than 10 degrees can be selected for a4 and a5 G DSH triple roll wrist only the oblique angle a can be freely selected and is entered in DH_4 ALPHA the values for a4 a5 d5 0 and a5 2a are fixed G WIH offset wrist the three wrist axes are perpendicular to one another i e the Denavit Hartenberg parameters a4 90 degrees a5 90 degrees are fixed a4 d5 and a5 ca...

Page 70: ...ting can be seen from ROBROOT and TIRORO The value of DEF_A4FIX also serves as a default setting for PAL_MODE Description of the permissible values G TRUE Palletizing mode on by default G FALSE Palletizing mode off by default 2 1 143 DEF_A5LINK 4 axis palletizing mode control Data type bool min Value Unit Value max Assignment This machine datum must be set to TRUE for the 4 axis palletizing robot ...

Page 71: ...terchange the axes without this resulting in a different kinematic behavior With main axes SS and CC for example the axes can be freely interchanged with CS and SC it is possible to interchange axes 1 and 2 or 2 and 3 This interchange is carried out using AXIS_SEQ AXIS_SEQ i j thus means that axis j corresponds to the normal axis i In the case of a SCARA robot CC for example axis 1 is usually the ...

Page 72: ...equired for the free selection of any direction of rotation The actual direction of rotation of an axis is not affected by AXIS_DIR This can only be modified by means of the sign preceding the value for the gear ratio RAT_MOT_AX Mathematically positive 1 Mathematically negative 1 Definition of the direction of rotation is only meaningful once the external axes have been calibrated Example In the e...

Page 73: ...degrees mm Value max Assignment 1 6 2 1 150 POS_SWB Modification of Status for singularities Data type int min Value Unit Value max Assignment For each of the max three singularities it is possible to specify here whether or not modification of the solution branch i e the status is permissible during a CP motion Modification can however lead to velocity dependent axis positions and does not solve ...

Page 74: ...grees 1 Use old value of theta Example If the end point of a PTP motion results in the wrist singularity Alpha 5 the angles of axes 4 and 6 cannot be determined unambiguously If SINGUL_POS 3 is equal to 0 the angle of axis 4 will in any case be moved to 0 degrees while the value 1 means that the value of the start point is retained for axis 4 The angle of axis 6 is then adapted accordingly 2 1 152...

Page 75: ...tesian position The only difference here is a difference of 180 degrees for angle C If ORI_CHECK is set to 1 a check is carried out to see whether or not the 5 axis robot reached the taught end point 2 1 155 TIRORO Offset between internal and current robot coordinate system Data type real min Value Unit Value max Assignment FRAME X Y Z A B C ZIRO YIRO XIRO A2 Z3 Y3 X3 R 90 degrees A3 A5 WP ZWP YWP...

Page 76: ... system in the P3 system Bear in mind that coordinate system P3 does not correspond to the DH convention as robot axis 3 in the standard robot NR for example rotates about the Y3 axis of the P3 system The Z axis of the first wrist axis system X3 must be parallel or antiparallel to rotational axis 4 as the wrist is described using DH parameters 2 1 158 LENGTH_A Main axis length A eccentricity of ax...

Page 77: ...X axis can be freely selected thus giving rise to a number of configuration options each with a different zero position of the wrist axes 2 1 161 DH_5 Denavit Hartenberg parameters Data type min Value Unit Value max 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 consecutiv...

Page 78: ...in Value Unit Value max Assignment This machine datum is used exclusively for KUKA internal development purposes 2 1 164 SPIN_C Data type min Value Unit Value max Assignment This machine datum is used exclusively for KUKA internal development purposes 2 1 165 TRP_A Axis driven by trapezoid Data type min Value Unit Value max Assignment This machine datum is used exclusively for KUKA internal develo...

Page 79: ...oder motor encoder Data type real min Value Unit Value max Assignment 1 30 If an external position encoder is used ASR_ERROR specifies the permissible deviation of the speed measured by the motor encoder from that measured by the external encoder 2 1 168 RAT_EXT_ENC Axis specific encoder ratio of the external encoder Data type real min Value Unit Value max Assignment 1 30 Example RAT_EXT_ENC 1 N 1...

Page 80: ... kinetic energy Ekin It is the energy which must be taken up by the brake in the worst case situation Emax Epot Ekin 2 1 169 1Kinetic energy The kinetic energy Ekin is the sum of translational Etrans and rotational energy Erot Ekin Etrans Erot Etrans m 2 v2 max Erot Jmotor 2 ω2 motor Jgear 2 ω2 gear Jstructure 2 ω2 structure ω n π 30 E Energy J m Mass kg v Velocity m s J Mass moment of inertia kg ...

Page 81: ...ntable ω2 turntable 2 1 170 BRK_ENERGY_MAX Maximum permissible braking energy Data type real min Value Unit J Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 The values here can be read from a table and are dependent on the motor 2 1 171 BRK_COOL_OFF_COEFF Brake cooling factor Data type real min Value Unit J s Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 ...

Page 82: ...c braking torque Data type real min Value Unit Nm Value max Assignment 1 axis 1 6 axis 6 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: ...nal axes Data type int min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 EX_AX_NUM defines the number of external axes that are connected to the robot system Example Three external axes are present EX_AX_NUM 3 2 2 2 EX_AX_ASYNC Switching external axes to asynchronous motion Data type int min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis ...

Page 84: ...Data type int min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 Deactivation of the T1 velocity reduction factor of asynchronous external axes Syntax ASYNC_T1_FAST Value Argument Type Explanation Value INT This bit coded value specifies which external axis may be moved in the case of coordinated asynchronous motions without velocity reduction in T1 mode The...

Page 85: ... motion the motion is executed in T1 mode at program velocity G If for at least one of the axes involved in the ASYPTP motion the corresponding bit is not set in ASYNC_T1_FAST the motion is executed in T1 mode at reduced velocity Remarks G Deactivation of the T1 velocity reduction may only be used for external axes of special applications which are not safety sensitive e g electric motor driven sp...

Page 86: ...d 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 me...

Page 87: ...n ASYNC_AXIS i e the axis is switched to asynchronous mode The status message for the asynchronous axis is not displayed If a bit is deleted in ASYNC_EX_AX_DECOUPLE ASYNC_AXISremains unchanged i e the axis remains asynchronous The status message for the asynchronous axis is displayed An attempt to switch a decoupled axis to synchronous mode by means of a direct value assignment to ASYNC_AXIS will ...

Page 88: ...ample External transformations 1 and 2 are both base kinematic systems DECL EX_KIN EX_KIN ET1 EASYS ET2 EBSYS ET3 NONE ET4 NONE ET5 NONE ET6 NONE 2 2 6 ET1_AX External axes Data type real min Value Unit Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 ET1_AX designates the aggregate containing a list of the external axes which are used in the 1st external transformation ...

Page 89: ...t point and A1 Data type real min Value Unit mm degrees Value 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_TA2A...

Page 90: ...ternal axis 1 12 external axis 6 ET1_TA3A2 defines the offset between transformation axis 2 second external axis used and the pivot point of axis 3 third external axis used in this external transformation ET1 Example FRAME ET1_TA3A2 X 0 0 Y 0 0 Z 0 0 A 0 0 B 0 0 C 0 0 2 2 11 ET1_TFLA3 Frame linkage between A3 and the flange Data type real min Value Unit mm degrees Value max Assignment 1 axis 1 6 a...

Page 91: ...lange and the measuring point Data type real min Value Unit mm degrees Value max Assignment 1 axis 1 6 axis 6 7 external axis 1 12 external axis 6 ET1_TPINFL defines the offset between the origin of the kinematic coordinate systemand the reference mark Example FRAME ET1_TPINFL X 0 0 Y 0 0 Z 0 0 A 0 0 B 0 0 C 0 0 1 ...

Page 92: ...ACE 62 B BOUNCE_TIME 41 Brake control mode 50 Brake cooling factor 81 Brake delay time 54 Braking ramp 43 Braking time 62 Braking torque 82 BRK_COOL_OFF_COEFF 81 BRK_DEL_COM 52 BRK_DEL_EX 54 BRK_DEL_PRO 53 BRK_ENERGY_MAX 81 BRK_MAX_TM 62 BRK_MODE 50 BRK_OPENTM 52 BRK_TORQUE 82 C Cannon position 12 Cartesian positioning window 57 Channel number 24 COM_VAL_MI 60 Command speed 60 Command speed limita...

Page 93: ...SROOT 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 Followin...

Page 94: ... energy of the linear unit 81 Maximum rated current 30 Measuring system 33 Motor acceleration time 32 Motor characteristic 31 Motor current 39 Motor KSD combination 27 MOTOR_POLE_NUMBER 27 MS_DA 54 N NINPUT_SENSORCHANNEL Ln 24 NINPUT_SENSORTYPE Ln 23 NINPUT_SUBCHANNEL Ln 24 NUM_AX 10 Number of axes 10 Number of external axes 83 O Offset 13 14 75 76 ORI_CHECK 75 Orientation 13 14 Orientation accele...

Page 95: ...p 26 SLAVE_LOOP_FOL_ALARM 21 SLAVE_LOOP_FOL_CRITICAL 20 SLAVE_LOOP_PMCHANNEL Ln 21 SLAVE_LOOP_SPEED_ALARM 21 SLAVE_TORQUE_RATIO 23 SOFTN_END 61 SOFTP_END 62 Software limit switches 61 62 SPC_KIN 79 Speed channel 24 Speed controller 19 20 44 45 Speed controller gain 42 Speed deviation 79 Speed input 23 SPIN_A 78 SPIN_B 78 SPIN_C 78 SPINDLE 71 SPINDLE 10 Spindles 71 ST_TOL_TIME 40 ST_TOL_VEL 40 Stan...

Page 96: ...5 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 W Warm up functionality 38 Warm up time of the gears 39 WARMUP_CURR_LIMIT 39 WARMUP_MIN_FAC 39 WARMUP_RED_VEL 38 WARMUP_SLEW_RATE 39 WARMUP_TIME 39 Wrist axis identification 69 WRIST_AXIS 69 Z Zero point offset 12 ...

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