Product manual

External Axes Installation and Commissioning
120 Product Manual IRB 6400R
* Parameter value must not be changed.
** Is connected physically to node 4 but the logical value in the system parameters
must be 7.
Logical axis is used as the axis number in the RAPID instruction and for the teach
pendent. Normally the robot use axes 1-6 and the external axes 7-12. The user can
change the logical axis number to fit the new application. Only axes with unique axis
numbers may be active at the same time.
If drive units with three inverters are used, note the limitation described under drive
system.
Figure 77 Configuration files with default data.
Figure 78 Configuration files with default data.
Incorrect definitions of the system parameters for brakes or external axes may
cause damage to the robot or personal injury.
Configura-
tion file
Logical axis Measuring system Drive system
System* Node* System* Unit position Node
AC1M1D1 7 1 1 1 1 2
AC2M1D1 8 1 2 1 2 2
AC3M1D1 9 1 3 1 3 2
AC4M1D1 10 1 4 1 2 1
AC5M1D1 11 1 5 1 3 1
AC6M1D1 12 1 6 1 1 1
Configura-
tion file
Logical
axis
Measuring system Drive system
System* Node* Sys-
tem*
Unit position Node
EN1M2D2 8 2 1 2 0 1
EN2M2D2 9 2 2 2 1 1
EN3M2D2 10 2 3 2 2 1
EN4M2D2 11 2 4 2 3 1
EN5M2D2 12 2 5 2 4 1
EN6M2D2 13 12 6 2 5 1