ABB IRB 6400R Product On-Line Manual page 281

Installation and Commissioning
When designing the drive system following has to be checked:
• Max motor current, in order not to demagnetize the motor.
• Max/rated current from drive inverter.
• Max/rated current from drive unit (sum of all inverters on same drive unit)
• Max/rated current from dc-link
• Max/rated power for bleeder
• Max/rated power from transformer
Note: If the system contains axes with no stand by state (the axes will continue to be
controlled while the brakes are activated for the robot), the max allowed power con-
sumption of these axes are 0.5 kW.
Note:
For safety reasons, the power supply to the external motor must be switched off
when the robot is in the MOTORS OFF mode.
Drive system configuration with one external axis at Drive System 1 in S4C robot cab-
inet and five to six axes at Drive System 2 installed in external cabinet.
DRIVE SYSTEM 1
External
axis drive
system 1
(1 axis)
3
Unit number 0
Transformer 1
Figure 67 Drive systems with external cabinet.
Product Manual IRB 6400R
Drive System 1
serial communication
Robot
axes
2 1
DRIVE SYSTEM 2
Unit number 2*
0* 3*
Transformer 2
External Axes
Drive System 2
serial
communication
External
axes drive
system 2
(5-6 axes)
1*
111