ABB IRB 6400R Product On-Line Manual page 96

Advanced Motion 3.2
External Drive System
With Advanced Motion, the possibility to connect off-the-shelf standard drive systems
for controlling external axes is available. This can be of interest, for example, when the
power of the available S4C drives does not match the requirements.
There are two alternatives:
- The Atlas Copco Controls´ stand alone servo amplifier DMC.
- The Atlas Copco Controls´ FBU (Field Bus Unit) that can handle up to three
external drive units per FBU unit.
These can be connected to analog outputs (+/- 10 V) or a field bus.
The drive board can thus be of virtually any make and type.
For further information about DMC and FBU, please contact Atlas Copco Controls.
NOTE! The DMC/FBU must be equipped with Atlas Copco Controls option C.
RAPID instructions and functions included in this option
IndReset
IndAMove
IndDMove
IndRMove
IndCMove
IndInpos
IndSpeed
CorrCon
CorrWrite
CorrRead
CorrDiscon
CorrClear
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Resetting the work area for an axis
Running an axis independently to an absolute position
Running an axis independently for a specified distance
Running an axis independently to a position within one
revolution, without taking into consideration the number of turns
the axis had rotated earlier
Running an axis continuously in independent mode
Checking whether or not an independent axis has reached the
programmed position
Checking whether or not an independent axis has reached the
programmed speed
Activating path correction
Changing path correction
Read current path correction
Deactivating path correction
Removes all correction generators
Product Specification RobotWare for BaseWare OS 3.2