Installation and Commissioning

External AxesInstallation and Commissioning* Parameter value must not be changed.** Is connected physically to node 4 but the logical value in the system parametersmust be 7.Logical axis is used as the axis number in the RAPID instruction and for the teachpendent. Normally the robot use axes 1-6 and the external axes 7-12. The user canchange the logical axis number to fit the new application. Only axes with unique axisnumbers may be active at the same time.If drive units with three inverters are used, note the limitation described under drivesystem.ConfigurationfileLogical axis Measuring system Drive systemSystem* Node* System* Unit position NodeAC1M1D1 7 1 1 1 1 2AC2M1D1 8 1 2 1 2 2AC3M1D1 9 1 3 1 3 2AC4M1D1 10 1 4 1 2 1AC5M1D1 11 1 5 1 3 1AC6M1D1 12 1 6 1 1 1ConfigurationfileFigure 70 Configuration files with default data.LogicalaxisMeasuring systemFigure 71 Configuration files with default data.Drive systemSystem* Node* System*Unit position NodeEN1M2D2 8 2 1 2 0 1EN2M2D2 9 2 2 2 1 1EN3M2D2 10 2 3 2 2 1EN4M2D2 11 2 4 2 3 1EN5M2D2 12 2 5 2 4 1EN6M2D2 13 12 6 2 5 1Incorrect definitions of the system parameters for brakes or external axes maycause damage to the robot or personal injury.110 Product Manual IRB 1400