External Axes - ABB IRB 6400R Product On-Line Manual

Technical specification

3.9 External Axes

An external axis is an AC motor (IRB motor type or similar) controlled via a drive unit
mounted in the robot cabinet or in a separate enclosure. See Specification of Variants
and Options.
Resolver
Resolver supply
Absolute position is accomplished by battery-backed resolver revolution counters in
the serial measurement board (SMB). The SMB is located close to the motor(s)
according to Figure 27, or inside the cabinet.
For more information on how to install an external axis, see the Product Manual -
Installation and Commissioning.
When more than one external axis is used, the drive units for external axis 2 and
upwards must be placed in a separate cabinet according to Figure 27.
Not supplied on delivery
Not supplied
Drive System 2 inside
on delivery
user designed cabinet
(no ABB drives)
42
SMB
SMB
SMB
SMB
alt.
Figure 27 Outline diagram, external axes.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Connected directly to motor shaft
Transmitter type resolver
Voltage ratio 2:1 (rotor: stator)
5.0 V/4 kHz
Measurement System 2
Not supplied on delivery
Measurement
System 1
SMB