Product manual

External Axes Installation and Commissioning
110 Product Manual IRB 6400R
SDO serial communication output
SDI serial communication input
+BAT battery +
0V BAT battery 0 V
BATLD not to be used
BATSUP not to be used EXC1 excitation power to resolver 1,2,3
+24 V 24 V power EXC2 excitation power to resolver 4,5,6
0 V 0 V power X1 Input x-stator node 1
5.3.4 Drive System
There are two drive systems 1 and 2. Each system is connected to the CPU board via a
serial link. The link also supplies low voltage logic power to the rectifier and drive
modules.
Each drive system has its own transformer. For information on fuses, power contactors
etc. see documentation for the separate enclosure.
The rectifier DSQC 358C has in addition to its rectifier section also a drive inverter for
one external axis. This rectifier can be used in all S4C robot cabinets except for those
robots needing the DSQC 345D rectifier.
For robots using two drive units, an extra drive unit can be placed in the S4C robot cab-
inet. This drive unit is connected to the Drive System 2 serial communication link, but
use the Drive System 1 rectifier. This combined system is called Drive System 1.2 .
If drive unit with three drive inverters (nodes) are used, axes with measurement node
1, 2, 3 or 4, 5, 6 may not be connected to the same drive unit.
If the function “common drive” is to be used, a contactor unit for motor selection is
required.
As an option it’s possible to use Atlas DMC of FBU. Those units are always connected
to drive system 2 and measurement system 2. They CANNOT be combined with inter-
nal controlled drive units connected to drive system 2. Up to 6 external axis can be con-
nected using DMC:s and/or FBU:s. In section 5.3.5 there is a complete list of template
files for external controlled axes.
R2.SMB 1-4
R2.SMB 3-6 R2.SMB 1-2
R2.SMB
R2.G
Serial Measurement Board (SMB)