Installation and Commissioning

External AxesInstallation and CommissioningR2.SMBR2.SMB 1-4 R2.SMB 3-6 R2.SMB 1-2R2.GSerial Measurement Board (SMB)SDO serial communication outputSDI serial communication input+BAT battery +0V BAT battery 0 VBATLD not to be usedBATSUP not to be used EXC1 excitation power to resolver 1,2,3+24 V 24 V power EXC2 excitation power to resolver 4,5,60 V 0 V power X1 Input x-stator node 15.3.4 Drive SystemThere are two drive systems 1 and 2. Each system is connected to the CPU board via aserial link. The link also supplies low voltage logic power to the rectifier and drivemodules.Each drive system has its own transformer. For information on fuses, power contactorsetc. see documentation for the separate enclosure.The rectifier DSQC 358C has in addition to its rectifier section also a drive inverter forone external axis. This rectifier can be used in all S4C robot cabinets except for thoserobots 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, butuse 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 node1, 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 isrequired.As an option it’s possible to use Atlas DMC of FBU. Those units are always connectedto drive system 2 and measurement system 2. They CANNOT be combined with internalcontrolled drive units connected to drive system 2. Up to 6 external axis can be connectedusing DMC:s and/or FBU:s. In section 5.3.5 there is a complete list of templatefiles for external controlled axes.100 Product Manual IRB 1400