Internal +24V suppl
Control
I
system
MON
OVI/O
+24
V
I/O
EXT
MON A
EXT MON B
External
drive unit
n
External +24V supp
Control system
MON
| EXT MON A
| -^" EXT MON B
External
+24 V
External
drive unit
n
>£**
Note:
From the safety aspect it is important that the external motor is without power
when the robot is in MOTOR OFF mode.
The signal EXT BRAKE ON should be used to block the speed controller of the external axis
(BLOCK signal), so that any offset does not integrate up to the current limit when the brakes
are activated.
To prevent an external axis equipped with brake from moving when the brake is operated
(applicable to axes affected by gravitation), an extra time-delay may be created between EXT
BRAKE ON and BLOCK as follows.
EXT BRAKE ON
Rl OOK
VREF (7-12), 0 V VREF (7-12)
Analog reference signal,-10 - +10 V, for the speed reference from control system to the external
drive unit System parameters define which max. voltage in the range -9.4 - +9.4 V corresponds
to the defined max. speed in the range -3000 - +3000 rpm. See section 5.2.4.13 relating to
system parameters for the speed reference to an external drive unit.
INSTALLATION
S3
6:9
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