Installation and Commissioning

Installation and CommissioningExternal AxesOPTION 37P : axes M7-M9OPTION 37Q : axes M7-M12Drive systemDrive UnitDrive nodeNode typeM7 2 1 1 CM8 2 1 2 CM9 2 1 3 BM10 2 2 1 CM11 2 2 2 CM12 2 2 3 BOPTION 37V : axes M7-M10OPTION 37X : axes M7-M12Drive systemDrive UnitDrive nodeNode typeM7 2 1 1 CM8 2 1 2 CM9 2 2 2 TM10 2 2 1 GM11 2 3 2 TM12 2 3 1 GIncorrect definitions of the system parameters for brakes or external axes maycause damage to the robot or personal injury.Note:For safety reasons, the power supply to the external motor must be switched offwhen the robot is in the MOTORS OFF mode.5.3.5 Configuration FilesIn order to simplify installation of external axes a number of configuration files aredelivered with the system. The configuration files are optimum designed concerningsystem behaviour and performance of the axes. When installing external axes it isimportant to design installations, so a combination of existent files can be used.Four types of configuration files are delivered:• Utility files for defining transformer and rectifier types in drive system 2.• External axes files used for axes connected to a system with robot. File namesMNxMyDz (Measurement Node x, Measurement system y, Drive system z),see Figure 69.• External controlled external axis. File names ENxM2D2 (External Node x,Measurement system 2, Drive system 2), see Figure 71.• External axes files used in system without robot. File names ACxMyDz(Axis Controlled x, Measurement system y, Drive system z), see Figure 70.Product Manual IRB 1400 107