6
EXTERNAL AXES
6.1
External axes and axis 7
The system is capable of positioning up to six speed-controlled servo-motors with the drives
located outside the control systemt, so called external axes. An external axis may be, for
instance, a travel motion for the robot, or a turntable. The drives may be of a AC or DC type.
Axis 7 may be defined as either an internal or as an external axis.
The following table shows the difference between an internal and an external 7th axis:
Max. no. of external axes
Drive unit
Motor
internal axis 7
4 * IRB 2000,3000
0 IRB 6000
AC drive in
control cabinet
4- or 6-pole
synchronous motor,
of IRB-type.
external axis 7
6 IRB 2000, 3000
1 IRB 6000
External drive unit with speed
reference from control
system
DC or AC, depending on
drive unit
Connection for monitoring
motor temperature Yes
No
* If an internal axis 7 is installed, 3 further axes can be controlled by the robot.
1 ^
c
Control r
system
<•*',.,• *
w
y
y
SYNCH
SWITCH
SUPPLY
%
MOTORS ON 1 _
BRAKE ^
POWER OK
SPEED REF
•
BNEF
COARSE
ESOLVEF
Drive
unit
iESOLVER «-T
^
DRIVE
POWER
INSTALLATION
S3
6:1
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