ABB IRB 2000, Product Manual

Page: 152 / 270

3.12.2
Servo-controlled positioner with common drive unit
The external axes can be distributed to different stations with the help of the parameter
STATION so that it becomes possible to activate these in suitable groups.
The stations can be activated/deactivated independently except when axes share a common
drive unit. One output and one input are connected to each station to permit activation of the
station and to check the status of the station respectively.
Example:
STATION A INPUT 11 OUTPUT 1 and
STATION B* INPUT 12 OUTPUT 2 and
STATION C* INPUT 13 OUTPUT 12 and
STATION D INPUT 14 OUTPUT 13 and
AXES 7
AXES 8,9
AXES 10,11
AXES 12
The axes 8 and 9 and 10 and 11, respectively share two drive units which means that the
stations B and C cannot be active simultaneously, this is marked with a *. In this case the
synchronized sequence is:
1. C+robot
2. B+A+D+ robot
3. B+D
are deactivated so that only A is active after the synchronization.
A switchover from station to C is illustrated by the following time diagram:
Output 1
Input 11
Servo A
0
1
0
0
active
Output
Input
Servo
Output
Input
Servo
2
L_
12
B
L _
12
13
C
1
o
T 1
1
o
1
0
—J n
i - \
deactivated
activated
Non-servo-controlled positioner
A non-servo-controlled positioner can be run with the help ov ports 70 and 80. A description of
the principles of the ports 70 and 80 is given in section 3.10.8.
INSTALLATION
S3
3:38