Kuka KR C2 User manual

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OPERATING HANDBOOK
KR C2
Machine Data
Issued: 05 Feb 2005 Version: 00

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eCopyright KUKA Roboter GmbH
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.
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 incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf

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Contents
1 Introduction 8.....................................................
1.1 Characteristics 8................................................................
1.2 System requirements 8...........................................................
1.2.1 Software 8......................................................................
1.2.2 Hardware 8.....................................................................
2 The file $MACHINE.DAT 9..........................................
2.1 Description of the individual machine data 9.........................................
2.1.1 $V_R1MADA[ ] 9................................................................
2.1.2 $TECH_MAX 9..................................................................
2.1.3 $NUM_AX 10....................................................................
2.1.4 $AXIS_TYPE[ ] 10................................................................
2.1.5 $COUP_COMP[ ] 11..............................................................
2.1.6 $EXCOUP_COMP[ ] 11...........................................................
2.1.7 $MAMES[ ] 12...................................................................
2.1.8 $ROBROOT 13..................................................................
2.1.9 $ERSYSROOT 14................................................................
2.1.10 $RAT_MOT_AX[ ] 15..............................................................
2.1.11 $RAT_MOT_ENC[ ] 16............................................................
2.1.12 $DSECHANNEL[ ] 16.............................................................
2.1.13 $PMCHANNEL[ ] 18..............................................................
2.1.14 $LOOP_LG_PTP[ ] 19............................................................
2.1.15 $LOOP_G_VEL_PTP[ ] 19.........................................................
2.1.16 $LOOP_I_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[Ln] 25................................................
2.1.30 $POSINPUT_SENSORCHANNEL[Ln] 25............................................
2.1.31 $POSINPUT_SUBCHANNEL[Ln] 25................................................
2.1.32 $TORQINPUT_SENSORTYPE[Ln] 26...............................................
2.1.33 $LOOP_RAT_MOT_AX[ ] 26.......................................................
2.1.34 $LOOP_RAT_EXTPOS_AX[ ] 26...................................................
2.1.35 $MOTOR_POLE_NUMBER[ ] 27...................................................
2.1.36 $SERVOFILE_CONFIG[ ] 27.......................................................
2.1.37 $SERVOFILEKPS1[ ] 27..........................................................
2.1.38 $CURR_MAX[ ] 28................................................................
2.1.39 $CURR_CAL[ ] 28
................................................................
2.1.40 $CURR_LIM[i] 29.................................................................
2.1.41 $CURR_MON[i] 29...............................................................

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2.1.42 $KPS_CURR_MAX 30............................................................
2.1.43 $KPS_CURR_RATED 30..........................................................
2.1.44 $CURR_COM_EX[ ] 30............................................................
2.1.45 $KT_MOT[ ] 31...................................................................
2.1.46 $KT0_MOT[ ] 31..................................................................
2.1.47 $RAISE_TIME[ ] 31...............................................................
2.1.48 $RAISE_T_MOT[ ] 32.............................................................
2.1.49 $VEL_AXIS_MA[ ] 32.............................................................
2.1.50 $VEL_CPT1_MA 33..............................................................
2.1.51 $VEL_DSE_MA[ ] 33..............................................................
2.1.52 $AXIS_RESO[ ] 33...............................................................
2.1.53 $RED_VEL_AXC[ ] 34.............................................................
2.1.54 $RED_ACC_AXC[ ] 34............................................................
2.1.55 $RED_ACC_DYN 35..............................................................
2.1.56 $RED_VEL_CPC 35..............................................................
2.1.57 $RED_ACC_CPC 35..............................................................
2.1.58 $VEL_CP_T1 35.................................................................
2.1.59 $VEL_CP_COM 35...............................................................
2.1.60 $RED_JUS_UEB 36..............................................................
2.1.61 $RED_ACC_OV[ ] 36.............................................................
2.1.62 $ACC_CAR_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 $LG_PTP[ ] 42...................................................................
2.1.81 $LG_CP[ ] 43....................................................................
2.1.82 $TC_SYM 43....................................................................
2.1.83 $DECEL_MB[ ] 43................................................................
2.1.84 $G_COE_CUR 44................................................................
2.1.85 $G_VEL_PTP[ ] 44...............................................................
2.1.86 $G_VEL_CP[ ] 44................................................................
2.1.87 $I_VEL_PTP[ ] 45................................................................
2.1.88 $I_VEL_CP[ ] 45.................................................................
2.1.89 $VEL_FILT[ ] 46..................................................................
2.1.90 $TM_CON_VEL 46...............................................................
2.1.91 $APO_DIS_PTP[ ] 46.............................................................
2.1.92 $ACC_MA 47....................................................................
2.1.93 $VEL_MA 47.....................................................................
2.1.94 $ACC_OV 48....................................................................
2.1.95 $RED_T1 48.....................................................................

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2.1.96 $DEF_FLT_PTP 48...............................................................
2.1.97 $DEF_FLT_CP 48................................................................
2.1.98 $DEF_OV_JOG 49...............................................................
2.1.99 $ANA_DEL_FLT 49...............................................................
2.1.100 $SEQ_CAL 49...................................................................
2.1.101 $DIR_CAL 49....................................................................
2.1.102 $RED_CAL_SD 50...............................................................
2.1.103 $RED_CAL_SF 50................................................................
2.1.104 $BRK_MODE 50.................................................................
2.1.105 $BRK_OPENTM 52...............................................................
2.1.106 $BRK_DEL_COM 52..............................................................
2.1.107 $BRK_DEL_PRO 53..............................................................
2.1.108 $BRK_DEL_EX 54................................................................
2.1.109 $SERV_OFF_TM 54..............................................................
2.1.110 $MS_DA 54......................................................................
2.1.111 $FFC_VEL 55....................................................................
2.1.112 $FFC_TORQ 55..................................................................
2.1.113 $GEARTORQ_MON 55...........................................................
2.1.114 $SERVOMODE 56................................................................
2.1.115 $ACC_ACT_MA 56...............................................................
2.1.116 $VEL_ACT_MA 56................................................................
2.1.117 $IN_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...................................................................
2.1.136 $AX_SIM_ON 64.................................................................
2.1.137 $SIMULATED_AXIS 64............................................................
2.1.138 $TRAFO_AXIS 65................................................................
2.1.139 $MAIN_AXIS 65..................................................................
2.1.140 $WRIST_AXIS 69................................................................
2.1.141 $A4_PAR 69.....................................................................
2.1.142 $DEF_A4FIX 70..................................................................
2.1.143 $DEF_A5LINK 70.................................................................
2.1.144 $SPINDLE 71....................................................................
2.1.145 $AXIS_SEQ 71...................................................................
2.1.146 $AXIS_DIR[ ] 72..................................................................
2.1.147 $INC_AXIS 72...................................................................
2.1.148 $INC_EXTAX[ ] 73................................................................
2.1.149 $INC_CAR[ ] 73..................................................................

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2.1.150 $POS_SWB[ ] 73.................................................................
2.1.151 $SINGUL_POS 74................................................................
2.1.152 $DIS_WRP1 74..................................................................
2.1.153 $DIS_WRP2 74..................................................................
2.1.154 $ORI_CHECK 75.................................................................
2.1.155 $TIRORO 75.....................................................................
2.1.156 $TFLWP 76......................................................................
2.1.157 $TX3P3 76......................................................................
2.1.158 $LENGTH_A 76..................................................................
2.1.159 $LENGTH_B 76..................................................................
2.1.160 $DH_4 77.......................................................................
2.1.161 $DH_5 77.......................................................................
2.1.162 $SPIN_A 78.....................................................................
2.1.163 $SPIN_B 78.....................................................................
2.1.164 $SPIN_C 78.....................................................................
2.1.165 $TRP_A 78......................................................................
2.1.166 $SPC_KIN 79....................................................................
2.1.167 $ASR_ERROR 79................................................................
2.1.168 $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..................................................
2.2.4.1 Interaction with system variables 87.................................................
2.2.5 $EX_KIN 88.....................................................................
2.2.6 $ET1_AX 88.....................................................................
2.2.7 $ET1_NAME[ ] 89................................................................
2.2.8 $ET1_TA1KR 89.................................................................
2.2.9 $ET1_TA2A1 89..................................................................
2.2.10 $ET1_TA3A2 90..................................................................
2.2.11 $ET1_TFLA3 90..................................................................
2.2.12 $ET1_TPINFL 91.................................................................

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Machine Data
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1 Introduction
Incorrect modifications to the machine data can cause the robot to malfunction.
Robot malfunctions constitute a risk of danger to life and limb.
1.1 Characteristics
The robot--specific file $machine.dat contains important configuration data that are required
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
GController type KR C2
Special training is required for configuring machine data.
Advanced knowledge of KR C... robot controllers and their configuration and programming
is required.

2 The file $MACHINE.DAT
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2 The file $MACHINE.DAT
The machine data dealt with in this documentation also include the necessary
addresses for the configuration of external drive boxes. These additional data are
always specially indicated in this documentation.
2.1 Description of the individual machine data
2.1.1 $V_R1MADA[ ]
Version identifier
Data type char min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
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
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment -- --
Function generators define the number of technology packages.
Default=6
Example
The default value with six function generators is entered as follows:
$TECH_MAX=6

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2.1.3 $NUM_AX
Number of axes in the robot system
Data type int min
V
a
l
u
e
1
Unit -- --
V
a
l
ue
max 6
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
Data type int min
V
a
l
u
e
1
Unit []
V
a
l
ue
max 5
Assignment [1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
The axis type of each axis used must be defined.
1 = LINEAR (e.g. linear 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 limit switches.
4 = Finitely rotating
The axis value is converted to degrees.
A check is carried out for software limit switches.
Finitely rotating axes are not implemented and must not be used.
5 = Infinitely rotating (e.g. robot axis 4 or 6)
The axis value is converted to degrees.

2 The file $MACHINE.DAT (continued)
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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.
An infinitely rotating axis can move max. 180 degrees in a single motion block.
Example
In the example, external axis 7 is defined as a linear traversing 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
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment [Ax,Ay]=Nn,Dn
An axis “m” is rotated through a defined angle and the angle change at axis “n” is measured.
$COUP_COMP= (reaction axis n)/(angle axis m)
2.1.6 $EXCOUP_COMP[ ]
Compensation of the mechanical coupling between the external axes
Data type frame min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment [Ax,Ay]=Nn,Dn
Axis “m” is rotated through a defined angle and the rotation of axis “n” is measured.

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2.1.7 $MAMES[ ]
Zero point offset
Data type -- -- 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
Offset between the mechanical zero point (mastering 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 = axis number
K = offset in mm or degrees

2 The file $MACHINE.DAT (continued)
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2.1.8 $ROBROOT
Offset and orientation
Data type -- -- min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max -- --
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. 2:
X
Y
A1
A2
A4
A3
A5
A6
$ROBROOT
Z
$WORLD
X
Y
Z$BASE
Workpiece
X
Y
Z
$TOOL
$POS_ACT
X
Y
Z
Robot
Fig. 2 Frame chain without external axes
The BASE coordinate system is used as the reference system to define the position of the
workpiece. The programming of the robot is done in the BASE coordinate system, which has
the WORLD coordinate system as its reference coordinate system.
When interpolating the motion path, the robot controller calculates, under normal
circumstances (stationary workpiece, tool mounted on the robot flange), the current position
($POS_ACT) in relation to the $BASE coordinate system.

Machine Data
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2.1.9 $ERSYSROOT
Offset and orientation with external axes
Data type -- -- min
V
a
l
u
e
-- --
Unit mm, degrees
V
a
l
ue
max -- --
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.
Only valid if external axes are present (e.g. robot is mounted on a linear unit).
If $ERSYSROOT is valid, $ROBROOT is ignored.
The frame chain of a robot arm and a linear unit (KL) with mathematical coupling is illustrated
below (Fig. 3).
X
Y
A1
A2
A4
A3
A5
A6
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
calculating the position, this external kinematic system is always situated in the offset from
“$WORLD” to “$ROBROOT”.
The external coupling is always switched on and cannot be switched off. As in the case of
the external BASE kinematic system, there is no constant ROBROOT value. The contents
of the machine datum “$ROBROOT” are ignored. The current value can be read from the
main run variable “$ROBROOT_C”.

2 The file $MACHINE.DAT (continued)
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2.1.10 $RAT_MOT_AX[ ]
Motor/axis gear ratio
Data type frame min
V
a
l
u
e
15
Unit []
V
a
l
ue
max -- --
Assignment [1] axis 1 ... [6] axis 6
[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. This information is entered as a fraction. The direction of rotation 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:
Icompl = complete reduction ratio of the gear unit
Ibox = reduction ratio of the gear box
D= reference diameter of the gear [unit = m]
Icompl =1
(π⋅D)⋅ibox
The gear ration should be at least {N 15,D 1}.

Machine Data
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2.1.11 $RAT_MOT_ENC[ ]
Motor/encoder ratio
Data type frame 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
In order to calculate the resolution, the ratio of the motor to the encoder must be specified
for each axis. For cyclical absolute encoders, the number of cyclical absolute periods per
revolution is defined.
$RAT_MOT_ENC[i]={N x,D y}
i = axis number
x = value of numerator N (i.e. motor)
y = value of denominator D (i.e. axis)
Example 1
Robot with a 6--pole resolver: (3 absolute ranges, each 120 degrees)
$RAT_MOT_ENC[i]={N 1,D 3}
2.1.12 $DSECHANNEL[ ]
Axis assignment on the DSE
Data type int min
V
a
l
u
e
0
Unit []
V
a
l
ue
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 8 channels) on the DSE.
In the case of master/slave configurations, the number of the master control loop is entered.
With the default robot configuration, axes 1--6 are consecutively assigned to channels 1--6
(and thus control loops 1--6) respectively. With standard configurations the meaning of this
variable thus remains unchanged.
The number of motor pole pairs should be the same as, or a multiple of, the number of
resolver pole pairs.

2 The file $MACHINE.DAT (continued)
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Valid values for $DSECHANNEL are:
Loop
0 Channel not used
1--8 (1--9) 8 control loops on DSE no. 1 (+spare channel 9)
10--17 (10--18) 8 control loops on DSE no. 2 (+spare channel 18)
Each control loop number may be specified only once.
This entry defines which DSE channel is to be used by the axis.
There are eight channels available on the first DSE. With a standard robot, channels 7 and
8 can thus be used for external axes.
The RDC inputs are also defined using “$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 channel 3 and slot 3 on the RDC card:
$DSECHANNEL[1]=1
$DSECHANNEL[2]=2
$DSECHANNEL[3]=0
$DSECHANNEL[4]=0
$DSECHANNEL[5]=0
$DSECHANNEL[6]=0
$DSECHANNEL[7]=3

Machine Data
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2.1.13 $PMCHANNEL[ ]
Selection of the KPS
Data type int min
V
a
l
u
e
20
Unit []
V
a
l
ue
max 34
Assignment [1] axis 1 ... [6] axis 6
[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.
In the case of master/slave configurations with several KPSs for master and slave axes, only
the assignment 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
Example
Axis 4 uses the first channel of the second KPS.
PMCHANNEL[4]=22
The following applies for the first DSE--IBS:
$PM_CHANNEL[]=20 1st KPS
$PM_CHANNEL[]=22 2nd KPS
$PM_CHANNEL[]=24 3rd KPS
$PM_CHANNEL[]=26 4th KPS

2 The file $MACHINE.DAT (continued)
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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. Odd numbers indicate that the second braking channel of the KPS is used.
Example
Axis 5 is assigned to the first braking channel of the first KPS of the first DSE.
$PM_CHANNEL[5]=20
Axis 7 is assigned to the second braking channel of the first KPS of the first DSE.
$PM_CHANNEL[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
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment -- --
Defines the position controller gain of the control loop.
The value applies to PTP and CP motion.
It is only required for the control loop of a position--controlled slave (“Slave Pos”).
2.1.15 $LOOP_G_VEL_PTP[ ]
Speed controller gain
Data type Real min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment -- --
Defines the proportional gain 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”).

Machine Data
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2.1.16 $LOOP_I_VEL_PTP[ ]
Integral component of the speed controller
Data type real min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
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 int min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max -- --
Assignment -- --
Specifies the direction in which the slave moves relative 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. deviation limit
Data type int min
V
a
l
u
e
101
Unit %
V
a
l
ue
max -- --
Assignment -- --
Shut--off threshold with loss of mastering
If the following error exceeds the threshold value, PATH--MAINTAINING BRAKING is
triggered.
The percentage value refers to $SLAVE_LOOP_FOL_ALARM.
The value must be >100, otherwise it is automatically set to 120.
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