ABB IRB 6400R Product On-Line Manual page 290

External Axes
* Parameter value must not be changed.
** Is connected physically to node 4 but the logical value in the system parameters
must be 7.
Logical axis is used as the axis number in the RAPID instruction and for the teach
pendent. Normally the robot use axes 1-6 and the external axes 7-12. The user can
change the logical axis number to fit the new application. Only axes with unique axis
numbers may be active at the same time.
If drive units with three inverters are used, note the limitation described under drive
system.
Configura- Logical axis
tion file
AC1M1D1 7
AC2M1D1 8
AC3M1D1 9
AC4M1D1 10
AC5M1D1 11
AC6M1D1 12
Figure 77 Configuration files with default data.
Configura- Logical
tion file axis
EN1M2D2 8
EN2M2D2 9
EN3M2D2 10
EN4M2D2 11
EN5M2D2 12
EN6M2D2 13
Figure 78 Configuration files with default data.
Incorrect definitions of the system parameters for brakes or external axes may
cause damage to the robot or personal injury.
120
Measuring system
System* Node*
1 1
1 2
1 3
1 4
1 5
1 6
Measuring system
System* Node*
2 1
2 2
2 3
2 4
2 5
12 6
Installation and Commissioning
Drive system
System* Unit position
1 1
1 2
1 3
1 2
1 3
1 1
Drive system
Sys- Unit position
tem*
2 0
2 1
2 2
2 3
2 4
2 5
Product Manual IRB 6400R
Node
2
2
2
1
1
1
Node
1
1
1
1
1
1