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Product On-line Manual

IRB 1400
3HAC 2914-1
M98

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ABB Flexible Automation


External Axes Installation and Commissioning

5.3 User designed external axes.

5.3.1 DMC-C

Atlas Copco Controls stand alone servo amplifier DMC-C can be connected to Drive
System 2, see Figure 55. Total of max 6 external axes can be installed.

Drive System 2

Atlas DMC Atlas DMC Atlas DMC


Atlas Copco Atlas Copco Atlas Copco

Mesurement
System 2

Serial measurement
board

Figure 55 Servo amplifier, DMC.


Atlas Copco Controls provides the information on suitable motors and how to make
installation and commissioning,

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Installation and Commissioning External Axes

5.3.2 FBU

Atlas Copco Controls FBU (Field Bus Unit) can handle up to 3 external drive units, see
Figure 56.

Drive System 2

Mesurement System 2
Atlas DMC
Atlas Copco

S S S
E E E
R R R
V V V
O O O

Serial measurement
board

Figure 56 Field bus unit, FBU.

The drive units can be connected to analog speed reference outputs (+/- 10 V) or a field
bus.

For further information about DMC-C and FBU contact Atlas Copco Controls.

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External Axes Installation and Commissioning

5.3.3 Measurement System

There are two measurement system systems, 1 and 2. Each system is connected to the
CPU board via a serial link. The serial link is of ring type with board 1 connected to
CPU-board serial output. The last Serial Measurement Board (SMB) is connected to the
CPU-board serial input.This link also supplies power to the SMB.

Measurement System 1 can consist of up to two SMB, one used for the robot manipu-
lator, the other one for one external axis, normally a track motion. The external axis
must be connected to node 4 and in the configuration file be addressed as logical node
7.

Measurement System 2 can consist of one to four SMB boards. The board numbering
always starts with board 1. No gaps may occur in the number sequence. Every axis con-
nected to a measuring system must have an unique node number. While the node
number is the same as physical connection, the physical connection node must also be
unique.

Each SMB has 6 connection nodes for resolvers. A battery supplies the SMB with
power during power fail. If the axes move during power fail the internal revolution
counters are automatically updated. After power on the system is ready for operation
without any synchronization procedure.

A special configuration can be used with no robot connected. Only Measurement Sys-
tem 1 with one or two SMB may be used. Up to 6 external axes can be connected to
those boards. See configuration files in Figure 70.

MEASUREMENT SYSTEM 1 MEASUREMENT SYSTEM 2


configuration files MN4M1Dx configuration files MNxM2Dx

CPU
Robot manipulator

Serial Measurement
Measurement System 2
S
Serial CPU Board 1 serial
Measurement communication
Board 1

6 resolvers Measurement Serial


System 1
ment Measurement
serial Board 2
communi-
cation
Max 6
Serial resolvers
Measurement Serial (5 if
Board 2 Measurement one axis
Board 3 connected to
node 4 Measurement
).
System 1)
1 resolver

Serial
Measurement
Board 4

Figure 57 Measurement systems.

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Installation and Commissioning External Axes

MEASUREMENT SYSTEM 1 (only external axes, no robot)


configuration files ACxM1D1
(Measurement System 2 may not be used
together with this configuration)
CPU

Serial Measurement
Measurement System 1
Board 1 serial
communication

Max 6
Serial resolvers
Measurement
Board 2

Figure 58 Measurement system 1.

Resolver

Each resolver contains two stators and one rotor, connected as shown in Figure 59.

EXC*
0v EXC*

Stator X Rotor
X*
0V X*
* See connec- Stator Y
tion table

Y*
0V Y*

Figure 59 Connections for resolvers.


Technical data

Resolver Integrated in motor of IRB type


or
art.no. 5766 388-5, size 11
Resolver must be approved by ABB
for reliable operation.

Motor to resolver gear ratio 1:1, direct drive

Resolver cable length: max 30 m (X, Y for each resolver)


total max 70 m for EXC signals.
Product Manual IRB 1400 97
External Axes Installation and Commissioning

Cable: AWG 24, max 55pF/m, with shield.

The X, Y, 0V X and 0 V Y signals are used to connect resolvers to a serial measurement


board.

The EXC, 0V EXC are used for common supply for all resolvers, parallel connected.

It is very important that the noise level on the measurement signals from the exter-
nal axes is kept as low as possible, to prevent bad performance. Correct shielding
and ground connections of cables, measurement boards and resolvers is essential.

The cabling must comply with signal class measurement signals (see chapter 3.1,
Signal classes).

The enclosure for external serial measurement board(s) must comply with enclosure
class IP 54, in accordance with IEC 144 and IEC 529.

Resolver, connector on robot cabinet wall (option: 386 - External Axes Measurement
Board, mounted inside robot cabinet)

XS27, Measurement System 2, board 1

Node 1 Node 2 Node 3 Node 4 Node 5 Node 6

EXC1 A1 A3 A5

0V
A2 A4 A6
EXC1

EXC2 A8 A10 A12

0V
A9 A11 A13
EXC2

X B1 B3 B5 B8 B10 B12

Y C1 C3 C5 C8 C10 C12

0V X B2 B4 B6 B9 B11 B13

0V Y C2 C4 C6 C9 C11 C13

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Installation and Commissioning External Axes

Resolver, connectors on Measurement Board DSQC 313

Contact/ R2.G R2.SMB R2.SMB R2.SMB


R2.SMB
point D-Sub 9 pin
1-2 1-4 3-6
D-Sub 15 socket D-Sub 25 pin D-Sub 25 socket

1 +BAT GND GND GND GND


2 0V BAT BATLD 0V EXC1 X1 X4
3 0V 0V EXC1 Y1 Y4
4 SDO-N Y2 X2 X5
5 SDI-N X2 Y2 Y5

6 +BATSUP Y1 0V EXC1 0V EXC2


7 +24V X1 0V EXC1 0V EXC2
8 SDO - 0V EXC1 0V EXC2
9 SDI EXC1 X3 X6
10 EXC1 Y3 Y6

11 0V Y2 X4 X3
12 0V X2 Y4 Y3
13 0V Y1 0V EXC2 0V EXC1
14 0V X1 0V X1 0V X4
15 0V Y1 0V Y4

16 0V X2 0V X5
17 0V Y2 0V Y5
18 EXC1 EXC2
19 EXC1 EXC2
20 EXC1 EXC2

21 0V X3 0V X6
22 0V Y3 0V Y6
23 0V X4 0V X3
24 0V Y4 0V Y3
25 EXC2 EXC1

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External Axes Installation and Commissioning

R2.SMB R2.SMB 1-4 R2.SMB 3-6 R2.SMB 1-2

R2.G

Serial Measurement Board (SMB)

SDO serial communication output


SDI serial communication input
+BAT battery +
0V BAT battery 0 V
BATLD not to be used
BATSUP not to be used EXC1 excitation power to resolver 1,2,3
+24 V 24 V power EXC2 excitation power to resolver 4,5,6
0V 0 V power X1 Input x-stator node 1

5.3.4 Drive System

There are two drive systems 1 and 2. Each system is connected to the CPU board via a
serial link. The link also supplies low voltage logic power to the rectifier and drive
modules.

Each drive system has its own transformer. For information on fuses, power contactors
etc. see documentation for the separate enclosure.

The rectifier DSQC 358C has in addition to its rectifier section also a drive inverter for
one external axis. This rectifier can be used in all S4C robot cabinets except for those
robots needing the DSQC 345D rectifier.

For robots using two drive units, an extra drive unit can be placed in the S4C robot cab-
inet. This drive unit is connected to the Drive System 2 serial communication link, but
use the Drive System 1 rectifier. This combined system is called Drive System 1.2 .

If drive unit with three drive inverters (nodes) are used, axes with measurement node
1, 2, 3 or 4, 5, 6 may not be connected to the same drive unit.

If the function common drive is to be used, a contactor unit for motor selection is
required.

As an option its possible to use Atlas DMC of FBU. Those units are always connected
to drive system 2 and measurement system 2. They CANNOT be combined with inter-
nal controlled drive units connected to drive system 2. Up to 6 external axis can be con-
nected using DMC:s and/or FBU:s. In section 5.3.5 there is a complete list of template
files for external controlled axes.

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