16 / 131 Issued: 16.08.2012 Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)
System Variables
3.9 $ACC_CAR_MAX
Description
Maximum Cartesian acceleration
The variable of structure type ACC_CAR saves the value of the highest mag-
nitude that the Cartesian acceleration $ACC_CAR_ACT reaches.
X, Y, Z: Cartesian acceleration for X, Y, Z in [m/s
2
]
A, B, C: Cartesian acceleration for A, B, C in [°/s
2
]. This acceleration is not
be evaluated.
ABS: Overall Cartesian acceleration in the XYZ space, i.e. relative to the
absolute value of the acceleration in X, Y, Z in [m/s
2
]
The variable can be set to zero in the KRL program in order to determine the
maximum values.
Example
3.10 $ACC_EXTAX
Description
Acceleration of the external axes in the advance run
The variable contains the planned axis acceleration as a percentage. In the
case of motions planned using the dynamic model, the percentage value re-
fers to the axis torque available for acceleration.
If no dynamic model is available, the percentage value refers to the maximum
acceleration values defined by means of $RAISE_TIME in the machine data
(variable in the file …R1\Mada\$machine.dat).
Syntax
$ACC_EXTAX[Axis number]=Acceleration
Explanation of
the syntax
3.11 $ACC_EXTAX_C
Description
Acceleration of the external axes in the main run
The variable contains the axis acceleration of the motion currently being exe-
cuted as a percentage value. In the case of motions planned using the dynam-
ic model, the percentage value refers to the axis torque available for
acceleration.
If no dynamic model is available, the percentage value refers to the maximum
acceleration values defined by means of $RAISE_TIME in the machine data
(variable in the file …R1\Mada\$machine.dat).
Further information about the machine data can be found in the ma-
chine data documentation.
$ACC_CAR_MAX={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0 ABS 0.0}
Element Description
Axis number
Type: INT
1 … 6: External axis E1 … E6
Acceleration
Type: INT; unit: %
1 … 100
The variable is write-protected and can only be read.
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