Product manual

External Axes Installation and Commissioning
108 Product Manual IRB 6400R
Cable: AWG 24, max 55pF/m, with shield.
The X, Y, 0V X and 0 V Y signals are used to connect resolvers to a serial measurement
board.
The EXC, 0V EXC are used for common supply for all resolvers, parallel connected.
It is very important that the noise level on the measurement signals from the exter-
nal axes is kept as low as possible, to prevent bad performance. Correct shielding
and ground connections of cables, measurement boards and resolvers is essential.
The cabling must comply with signal class “measurement signals” (see chapter 3.1,
Signal classes).
The enclosure for external serial measurement board(s) must comply with enclosure
class IP 54, in accordance with IEC 144 and IEC 529.
Resolver, connector on robot cabinet wall (option: 386 - External Axes Measurement
Board, mounted inside robot cabinet)
XS27, Measurement System 2, board 1
Node 1 Node 2 Node 3 Node 4 Node 5 Node 6
EXC1 A1 A3 A5
0 V
EXC1
A2 A4 A6
EXC2 A8 A10 A12
0 V
EXC2
A9 A11 A13
X B1B3B5B8B10B12
Y C1C3C5C8C10C12
0V XB2B4B6B9B11B13
0V YC2C4C6C9C11C13