ABB IRC5 Applications Manual

2 Machine Synchronization
2.2.1.4. Connecting encoder and encoder interface unit
3HAC18154-1 Revision: F34
© Copyright 2004-2008 ABB. All rights reserved.
Finding the Encoder rotating direction
The following procedure describes how to find the encoder rotating direction.
2. Connect the synchronization switch to the
encoder interface unit (DSQC 377) on the
controller.
Action Illustration
Action Illustration
1. Tap: Inputs and Outputs symbol on the FlexPen-
dant.
en0300000585
2. Tap : View and select: I/O Units
3. Scroll down and selected: Qtrack - d377
4. Scroll down to c1position
5. Run the encoder in forward direction while
checking the value for C1Position.
If the number counts up:
• No action is required.
If the number counts down:
• the connection of the two encoder faces
(0° and 90°) must be interchanged.
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Encoder 1
+2-AX12
29
17
19
20
21
22
P_ENC1_A+
P_ENC1_A–
P_ENC1_B+
P_ENC1_B–
0 Volt
+24 VDC
30
18
23
24
25
26
Connection for PNP encoder
B (90°)
A (0°)
0V
24VDC
Encoder 2
P_ENC2_A+
P_ENC2_A–
P_ENC2_B+
P_ENC2_B–
0 Volt
+24 VDC
B (90°)
A (0°)
0V
24VDC
Continued

ABB IRC5 Specifications

General

Type	Industrial Robot Controller
Model	IRC5
Protection Class	IP54
Power Supply	200-600 VAC, 50/60 Hz
Communication Protocols	PROFIBUS, PROFINET, DeviceNet
Programming Language	RAPID
Number of axes	Up to 36
Storage Temperature	-25°C to +55°C
Relative Humidity	95% (non-condensing)