ABB IRB 2000 - Page 190

Wrist Axes
B_
B
Sync pos ition
B
A4+
+200°
IRB 6000
+300°
IRB 6000 /2.25PE-75 P
+200°
A4-
-200°
IRB 6000
-300°
IRB 6000/2.25PE-75
-200°
Clockwise rotation Counter-clockwise
rotation
A5-
-120
Sync position
A5-
-120'
Sync position
The sync position for axis 6 is
defined by the position of the
guide hole. The guide hole is to
be at 12 o'clock or at 6 o'clock
for a sus- pended robot
A6+
+300°
A6-
-300°
Clockwise rotation Counter-clockwise
rotation
5.2.4.13
AXIS 7-12, internal and external drives
MH/GIVSW
During axis definition it is possible to define axis 7 as internal or external. An internal axis
has an integrated drive unit on the control system where as an external axis has an external
drive unit. If axis 7 is defined as internal then independent movement of this axis is not
permitted.
AW
Any axes can be defined as internal, up to 6 axes can be defined, only one can be active. See
STATION chapter 5.2.4.15.
External axes with external drive units demands that aaxis board, DSQC 233, is placed at
board position in rack (see fig. in chapter 3.10).
For external axis 7 with internal drive unit demands a serial measurement board DSQC 253
placed in connection to the axis (track motion).
Basic definition 1
Description
Menu selection to define whether the robot system includes an external axis 7 or not
icMenu
AXIS + AXIS 7
Information text
PRESENT VALUE = NOT DEFINED
= Axis 7 not defined in the control system.
PRESENT VALUE = DEFINED
= Axis 7 defined in the control system.
INSTALLATION
S3
5:26