ABB IRC5 User Manual

2 Installation and Commissioning, IRC5
2.5.13. Connection of Drive Module Disconnect, by limit switch
3HAC021313-001 Revision: K78
© Copyright 2004-2008 ABB. All rights reserved.
Reconnect the Drive Module
The following procedure details how to reconnect the Drive Module.
Connect a remote switch
The following procedures details how to connect a remote switch.
2. Disconnect the connector X22. It is also possible to use connector X21,
but this is typically used for limit switches
on the robot.
xx
Action Note/illustration
Action Note/illustration
1. Make sure that the system is in the
MOTORS_OFF state.
2. Reconnect the X22 connector.
xx0500002087
3. Move the program pointer to main in the
RAPID-program where the disconnected
mechanical units are active.
Action Note/illustration
1. Make sure that the system is in the
MOTORS_OFF state.
2. Disconnect the jumpers from the connector
X22.
Continued
Continues on next page

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)