External Axes; Inputs And Outputs - ABB IRB 4400 Manual

Description
It is possible to select the step size for incremental jogging. Incremental jogging can be
used to position the robot with high precision, since the robot moves a short distance
each time the joystick is moved.
During manual operation, the current position of the robot and the external axes can be
displayed on the teach pendant.

2.9 External Axes

The robot can control up to six external axes. These axes are programmed and moved
using the teach pendant in the same way as the robot's axes.
The external axes can be grouped into mechanical units to facilitate, for example,
the handling of robot carriers, workpiece manipulators, etc.
The robot motion can be simultaneously coordinated with a one-axis linear robot
carrier and a rotational external axis.
A mechanical unit can be activated or deactivated to make it safe when, for example,
manually changing a workpiece located on the unit. In order to reduce investment costs,
any axes that do not have to be active at the same time can use the same drive unit.
Programs can be reused in other mechanical units of the same type.

2.10 Inputs and Outputs

A distributed I/O system is used, which makes it possible to mount the I/O units either
inside the cabinet or outside the cabinet with a cable connecting the I/O unit to the
cabinet.
A number of different input and output units can be installed:
- Digital inputs and outputs.
- Analog inputs and outputs.
- Remote I/O for Allen-Bradley PLC.
- InterBus-S Slave.
- Profibus DP Slave.
The inputs and outputs can be configured to suit your installation:
- Each signal and unit can be given a name, e.g. gripper, feeder.
- I/O mapping (i.e. a physical connection for each signal).
- Polarity (active high or low).
- Cross connections.
- Up to 16 digital signals can be grouped together and used as if they were a single
signal when, for example, entering a bar code.
Signals can be assigned to special system functions, such as program start, so as to be
able to control the robot from an external panel or PLC.
18 Product Specification IRB 4400 M98A/BaseWare OS 3.2