Hello Guys,
I need the irc5.cfg for the Robot 6700_235_265 ABB on the irbt 6004 12m all I have tried won't move the robot on the 7th axis.
The only config that I've got is the one for the normal one without the 7th axis then the robot moves but not on the irbt6004 12m.
any Help? 
thx forward 
Sresomator
If everything is set up correctly you can build it yourself.
You must add the track to the robot description.
It should look something like this:
# ABB IRB6640 2.75/205KG on Track 19.7m rotated 0 deg
-manipulator_type "Just give it a name"\
-secure_file "robots/irb1_6640/irbcfg/SEC_6640_2.75_205_1.cfg.enc"\
-internal_file "robots/irb1_6640/irbcfg/INT_6640_2.75_205_1.cfg"\
-external_file "robots/irb1_6640/irbcfg/EXT_6640_2.75_205_1.cfg"\
-calib_file "robots/irb1_6640/irbcfg/uncalib_1.cfg"\
-dc_file "robots/drv1_lib/drvcfg/INT_DCR3C3_DM1.cfg"\
-trafo_file "robots/drv1_lib/drvcfg/INT_TRAFO0_DM1.cfg"\
-secure_drive "robots/drv1_lib/drvcfg/SEC_DRIVE_3V3W_LOW_DM1.cfg.enc"\
-internal_drive "robots/drv1_lib/drvcfg/INT_DRIVE_3V3W_LOW_DM1.cfg"\
-external_drive "robots/drv1_lib/drvcfg/EXT_DRIVE_3V3W_LOW_DM1.cfg"\
-additional_file_1 "robots/drv1_lib/drvcfg/EXT_DRIVE_7U_DM1.cfg"\
-additional_file_2 "robots/Track/irb_6600/irbcfg/SEC_RB_66_1.cfg.enc" \
-additional_file_3 "robots/Track/irbt_6004/irbtcfg/SEC_T6004_D_19.7_1.cfg.enc" \
-additional_file_4 "robots/Track/irbt_6004/irbtcfg/EXT_T6004_D_19.7_1.cfg" \
-additional_file_5 "robots/Track/irb_6600/irbcfg/EXT_6640_2.75_205_LIN_1.cfg"
Hello Ynze,
I know i tried a lot of configurations in the cfg. but it won't drive.
At least I got the .cfg from ABB they said it should run on RCS Version rcsabb_rw5.15.12.irc5 with the configuration of them.
I tried it but it won't work with the .cfg any solutions?:
#
-manipulator_type "IRB_6700-235_2.65_BMW"\
-secure_file "Robots/irb1_6700/irbcfg/SEC_6700_2.65_235_1.cfg.enc"\
-internal_file "Robots/irb1_6700/irbcfg/INT_6700_2.65_235_1.cfg"\
-external_file "Robots/irb1_6700/irbcfg/EXT_6700_2.65_235_1.cfg"\
-calib_file "Robots/irb1_6700/irbcfg/uncalib_1.cfg"\
-dc_file "Robots/drv1_lib/drvcfg/INT_RECTIFIER_MDU790A_790_DM1.cfg"\
-additional_file_1 "Robots/drv1_lib/drvcfg/SEC_RECTIFIER_MDU790A_790_DM1.cfg.enc"\
-trafo_file "Robots/drv1_lib/drvcfg/INT_TRAFO0_DM1.cfg"\
-secure_drive "Robots/drv1_lib/drvcfg/SEC_DRIVE_MODULE1_MDU790A.cfg.enc"\
-internal_drive "Robots/drv1_lib/drvcfg/INT_DRIVE_MDU790A_790_DM1.cfg"\
-external_drive "Robots/drv1_lib/drvcfg/EXT_DRIVE_MODULE1_MDU790A.cfg"\
-additional_file_2 "Robots/drv1_lib/drvcfg/INT_DRIVE_ADU790A_790_M7_IR_DM1.cfg"\
-additional_file_3 "Robots/Tracks_TypeA/irb1_6700/irbcfg/SEC_RB_67_1.cfg.enc"\
-additional_file_4 "Robots/Tracks_TypeA/irb1_6700/irbcfg/EXT_6700_2.65_235_LIN_1.cfg"\
-additional_file_5 "Robots/Tracks_TypeA/irbt1_6004/irbtcfg/SEC_T6004_C_10.7_1.cfg.enc"\
-additional_file_6 "Robots/Tracks_TypeA/irbt1_6004/irbtcfg/EXT_T6004_C_10.7_1.cfg"\
-additional_file_7 "Robots/Tracks_TypeA/irbt1_6004/irbtcfg/EXT_T6004_M_1.cfg"
EDIT: The Robot Drives now on the Track I've interchanged Server and Client Data 
thx forward
Sresomator
Hello All,
I want to configure 6700 robot with 6004 track.
In program files and rrs bin there are lot of .cfg files are there for the tracks (inside irbt6004 folder) and robots(drvcfg folder) . how to select the correct one.
Hello. i have faced same issue in process simulate for irb4600 mounted in irbt4004. In robot setup, I tried to load MOC file (from robot backup) in Machine data & I'm getting software error(-49). But without loading MOC file, I could able to initialize rrs for irb4600 & while running the robot simulates without external axes movement.
Please help me to solve this issue
1.Is the Software error (-49) indicates I don't have license for 7th axis irbt4004??. Also in robot properties I can't find irbt4004 in manipulator type list.
2. If I have to modify .Cfg file , where it is located in server or local or backup??.& I should upload it in explicit data upload?? & what is the code I have to change in that?? Please help me
