Installation and Commissioning External Axes
Product Manual IRB 6400R 101
5 External Axes
5.1 General
External axes are controlled by internal or external (equals to non ABB) drive units.
Internal drive units are mounted either inside the robot cabinet or in a separate external
cabinet. External drive units are mounted in a user designed cabinet.
A maximum number of 6 external axes can be controlled by S4C. Internal drive units
mounted in a separate cabinet cannot be combined with external drive units.
The drive and measurement systems each consist of two systems. Each system is
connected to the CPU boards via a serial communication link.
A number of template configuration files are supplied with the system. The configura-
tion files are optimum designed concerning system behaviour and performance of the
axes. When installing external axes it is important to design installations, so a combi-
nation of standard files can be used.
Axes connected to Measurement System 1 can use Drive System 2 and vice versa.
Allowed combinations - see configuration files section 5.3.5.
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