6.2
Required equipment
The following equipment is required to control external axes:
External axes board, DSQC 233, must be fitted in the control system (not needed if internal
drive unit is used). This board contains hardware for the signal interface to all 6 external axes.
External axes are connected to XS4, XS3 and XS7.
• For external axes 7 -12:
Drive units for all axes. The external drive unit should have the same
performance data as the robot, i.e:
- Power failure, one period without operational disturbance
- Power variations, -15% - +12% of rated voltage
- Frequence variations. -2% - +2% of supply frequency
• Common logic for all axes (not applicable to internal axis 7). The logic must process
control signals from the robot for:
- MOTOR ON/MOTOR OFF
- applying brakes
• For internal drive unit
A 4- or 6-pole AC synchronous motor, type IRB.
• For systems without absolute measurement
- One resolver per axis for position control
- One sync, switch per axis for definition of sync, position.
• For systems with absolute measurement
- Two resolvers per axis, for position control and absolute measurement.
- One resolver and serial measurement board with battery for internal drive unit.
• Supply voltage for control signals and sync, switches:
- +24 V I/O from the control cabinet See section 3.6.1 "24 V I/O" for technical data.
- External +24 V supply. See section 3.6.2 "External power supply" for technical
data.
• Cabling fulfilling signal class "Measurement signals" see section 3.1 "Signal classes".
• Apparatus cabinet for the above equipment, should fulfil enclosure class IP 54
according to IEC 144 and IEC 529.
INSTALLATION S3
6:2
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