ABB IRB 6400R Product On-Line Manual page 272

External Axes
Drive System 2 inside
user designed cabinet
(non ABB drives)
Figure 61 Outline diagram, external axes.
One extra serial measurement board (SMB) can be connected to Measurement System
1 and up to four to Measurement System 2. See Figure 61. One of the extra serial
measurement boards of system 2 can be located inside the robot cabinet.
Max one external axis can be connected to Drive System 1. This axis is connected to
the drive unit located in the DC-link. Up to six external axes can be connected to Drive
System 2. Drive System 2 is in most cases located in a separate external cabinet.
For robots using only two drive units, as IRB1400 and IRB2400, a drive system 2 can
be located in the robot cabinet. This mixed system is called Drive System 1.2 . Two axes
can be connected to the drive module. In this case no external drive units or internal
drive units mounted in a separate cabinet can be used.
102
Measurement System 2
alt.
Installation and Commissioning
Drive System 2 inside
external axes cabinet
Contains no CPU
Drive System 1,
inside robot
cabinet
Measurement
System 1
Product Manual IRB 6400R