Product manual

Technical specification

42 Product Specification IRB 6400R M99/BaseWare OS 3.2

3.9 External Axes

An external axis is an AC motor (IRB motor type or similar) controlled via a drive unit

mounted in the robot cabinet or in a separate enclosure. See Specification of Variants

and Options.

Resolver Connected directly to motor shaft

Transmitter type resolver

Voltage ratio 2:1 (rotor: stator)

Resolver supply 5.0 V/4 kHz

Absolute position is accomplished by battery-backed resolver revolution counters in

the serial measurement board (SMB). The SMB is located close to the motor(s)

according to Figure 27, or inside the cabinet.

For more information on how to install an external axis, see the Product Manual -

Installation and Commissioning.

When more than one external axis is used, the drive units for external axis 2 and

upwards must be placed in a separate cabinet according to Figure 27.

Figure 27 Outline diagram, external axes.

alt.

Not supplied on delivery

Not supplied

on delivery

Not supplied on delivery

Measurement System 2

Measurement

System 1

Drive System 2 inside

user designed cabinet

(no ABB drives)

SMB