ABB IRB 2000, Product Manual

Page: 174 / 270

Absolute measurement system axes 7-12
Description
The parameter MEASUREMENT TYPE An (n = axis number) is used to define
the measuring system for the servo-system of the external axes. The measurement
system for axes 1-6 has always absoulute measurement. That's also valid for axis 7
if it is controlled by a internal drive unit (see section about external axes).
Menu
Resulting question after MOUNTING if external axes (8-12) are defined or if
external axis 7 is controlled from an external drive unit.
Guide text
MEASUREMENT SYSTEM TYPE An= (An: A7, A8, A9, A10, A l l , A12)
Def. range
0 = Servo system, axis An with sync, switch
1 = Absolute measurement servo-system axis An, according to the method with
Fine/ Coarse resolver.
Default value
0 = Servo system axis An with sync, switch
Note
The system cannot be started if the value of the parameter does not correspond to
the robots actual configuration.
Restart in absolute measurement system
Description
The parameter RESTART is used to specify whether the system is to execute an
integrated program which permits automatic restart after a power failure. The
function requires the selection of the absolute measurement system.
Menu
Resulting question if all defifined axes have absolute measurement servo system.
Guide text
RESTART=
Def. range
0 = No restart
1 = Restart
Default value
1 = No restart
INSTALLATION
5:10