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Installation and Commissioning
OPTION 37P : axes M7-M9
OPTION 37Q : axes M7-M12
M7
M8
M9
M10
M11
M12
OPTION 37V : axes M7-M10
OPTION 37X : axes M7-M12
M7
M8
M9
M10
M11
M12
Incorrect definitions of the system parameters for brakes or external axes may
cause damage to the robot or personal injury.
Note:
For safety reasons, the power supply to the external motor must be switched off
when the robot is in the MOTORS OFF mode.
5.3.5 Configuration Files
In order to simplify installation of external axes a number of configuration files are
delivered with the system. The configuration files are optimum designed concerning
system behaviour and performance of the axes. When installing external axes it is
important to design installations, so a combination of existent files can be used.
Four types of configuration files are delivered:
• Utility files for defining transformer and rectifier types in drive system 2.
• External axes files used for axes connected to a system with robot. File names
MNxMyDz (Measurement Node x, Measurement system y, Drive system z),
see Figure 76.
• External controlled external axis. File names ENxM2D2 (External Node x,
Measurement system 2, Drive system 2), see Figure 78.
• External axes files used in system without robot. File names ACxMyDz
(Axis Controlled x, Measurement system y, Drive system z), see Figure 77.
Product Manual IRB 6400R
Drive systemDrive UnitDrive node Node type
2
1
2
1
2
1
2
2
2
2
2
2
Drive systemDrive UnitDrive nodeNode type
2
1
2
1
2
2
2
2
2
3
2
3
External Axes
1
C
2
C
3
B
1
C
2
C
3
B
1
C
2
C
2
T
1
G
2
T
1
G
117
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Troubleshooting
