Product manual

Installation and Commissioning
CONTENTS
Page
Product Manual IRB 6400R 3
3.17.3 Profibus-DP, slave, DSQC352 ................................................................... 88
3.18 Communication .................................................................................................... 90
3.18.1 Serial links, SIO......................................................................................... 90
3.18.2 Ethernet communication, DSQC 336......................................................... 92
3.19 External operator’s panel...................................................................................... 94
4 Installing the Control Program...................................................................................... 95
4.1 System diskettes ..................................................................................................... 95
4.1.1 Installation procedure................................................................................... 95
4.1.2 Question about used DC-links and balancing units.................................. 96
4.2 Calibration of the manipulator................................................................................ 97
4.3 Cold start.................................................................................................................97
4.4 How to change language, options and IRB types................................................... 97
4.5 How to use the disk, Manipulator Parameters........................................................ 98
4.5.1 Robot delivered with software installed....................................................... 98
4.5.2 Robot delivered without software installed ................................................. 98
4.6 Saving the parameters on the Controller Parameter disk ....................................... 99
5 External Axes...................................................................................................................101
5.1 General....................................................................................................................101
5.2 Easy to use kits .......................................................................................................103
5.3 User designed external axes. ..................................................................................104
5.3.1 DMC-C.........................................................................................................104
5.3.2 FBU..............................................................................................................105
5.3.3 Measurement System...................................................................................106
5.3.4 Drive System................................................................................................110
5.3.5 Configuration Files ......................................................................................117