ABB IRB 6400R Product On-Line Manual page 277

Installation and Commissioning
MEASUREMENT SYSTEM 1 (only external axes, no robot)
configuration files ACxM1D1
(Measurement System 2 may not be used
together with this configuration)
Serial
Measurement
Board 1
Serial
Measurement
Board 2
Figure 65 Measurement system 1.
Resolver
Each resolver contains two stators and one rotor, connected as shown in Figure 66.
* See connec-
tion table
Figure 66 Connections for resolvers.
Technical data
Resolver
Motor to resolver gear ratio
Resolver cable length:
Product Manual IRB 6400R
CPU
Measurement
System 1
serial
communication
Max 6
resolvers
EXC*
0v EXC*
X*
0V X*
Y*
0V Y*
max 30 m (X, Y for each resolver)
total max 70 m for EXC signals.
Stator X
Rotor
Stator Y
Integrated in motor of IRB type
or
art.no. 5766 388-5, size 11
Resolver must be approved by ABB
for reliable operation.
1:1, direct drive
External Axes
107