Product On-line Manual IRB 1400 3HAC 2914-1 M98
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ABB Flexible Automation
Installation and Commissioning
External Axes
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
5.3.2
External Axes
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 E R V O
S E R V O
S E R V 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.
Product Manual IRB 1400
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Installation and Commissioning
External Axes
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 manipulator, 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 connected 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 System 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 Board 1 6 resolvers
CPU
Measurement System 1 ment serial communication
Serial Measurement Board 2 node 4
Serial Measurement Board 1
Measurement System 2 S serial communication
Serial Measurement Board 2
Serial Measurement Board 3
1 resolver
Max 6 resolvers (5 if one axis connected to Measurement ). System 1)
Serial Measurement Board 4
Figure 57 Measurement systems.
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Product Manual IRB 1400
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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 Measurement System 1 serial communication
Serial Measurement Board 1
Max 6 resolvers
Serial 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* Stator Y
* See connection 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: Product Manual IRB 1400
max 30 m (X, Y for each resolver) total max 70 m for EXC signals. 97
Installation and Commissioning
External Axes 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 external 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
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Node 1
Node 2
Node 3
Node 4
Node 5
Node 6
EXC1
A1
A3
A5
0V EXC1
A2
A4
A6
EXC2
A8
A10
A12
0V EXC2
A9
A11
A13
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
Product Manual IRB 1400
Installation and Commissioning
External Axes
Resolver, connectors on Measurement Board DSQC 313
R2.SMB 1-2
R2.SMB 1-4
R2.SMB 3-6
D-Sub 15 socket
D-Sub 25 pin
D-Sub 25 socket
GND BATLD 0V SDO-N SDI-N
GND 0V EXC1 0V EXC1 Y2 X2
GND X1 Y1 X2 Y2
GND X4 Y4 X5 Y5
+BATSUP +24V SDO SDI
Y1 X1 EXC1 EXC1
0V EXC1 0V EXC1 0V EXC1 X3 Y3
0V EXC2 0V EXC2 0V EXC2 X6 Y6
0V Y2 0V X2 0V Y1 0V X1
X4 Y4 0V EXC2 0V X1 0V Y1
X3 Y3 0V EXC1 0V X4 0V Y4
16 17 18 19 20
0V X2 0V Y2 EXC1 EXC1 EXC1
0V X5 0V Y5 EXC2 EXC2 EXC2
21 22 23 24 25
0V X3 0V Y3 0V X4 0V Y4 EXC2
0V X6 0V Y6 0V X3 0V Y3 EXC1
Contact/ point
R2.G
1 2 3 4 5
+BAT 0V BAT
R2.SMB D-Sub 9 pin
6 7 8 9 10 11 12 13 14 15
Product Manual IRB 1400
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Installation and Commissioning
External Axes
R2.SMB
R2.SMB 1-4
R2.SMB 3-6
R2.SMB 1-2
R2.G
Serial Measurement Board (SMB)
SDO SDI +BAT 0V BAT BATLD BATSUP +24 V 0V
5.3.4
serial communication output serial communication input battery + battery 0 V not to be used not to be used EXC1 24 V power EXC2 0 V power X1
excitation power to resolver 1,2,3 excitation power to resolver 4,5,6 Input x-stator node 1
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 cabinet. 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 it’s 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 internal controlled drive units connected to drive system 2. Up to 6 external axis can be connected using DMC:s and/or FBU:s. In section 5.3.5 there is a c omplete list of template files for external controlled axes.
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