Hello dear colleagues!
Could you please help me to understand ABB additional motors configuration concept?
I have a system with 2x IRB 1600 robots, and each robot additionaly have 3-axis XYZ gantry.
Our hardware is 3x cabinets:
1) IRC5 Single cabinet (main computer + 6-axis unit for robot 1),
2) IRC5 Drive module only (6-axis unit for robot 2),
3) IRC5 Drive module only (6-axis unit for 6x additional motors).
I made a gantry config with External Axis Wizard. I specified correct SMB board, measurement nodes 1 to 6 to each motor, also I specified 2 additional mechanical unit - gantry1 & gantry2.
However, when I try to jog axis 2, the controller reports error 34317. And most confusing for me, why in the error description specified "node 4" if the motor connected to X12 connector on 6-axis drive unit.
So my questions is:
How the controller know, to which power stage on drive unit should be powered? Which parameter in robot configuration defined this?
I saw that on old systems was a section "DRIVE_UNIT", where "drive_system", "unit_position" and "node" had specified. But now it's hidden.
Maybe it defined by "logical_axis" parameter in JOINT section?
Or by motor name (I mean "M1DM3" should always be connected to power stage 1, "M2DM3" to 2 etc.)
Of course I checked cabling first, now I'm absolutely sure that each motor connected to right power stage and measurement node. So for me it looks like a configuration error or hardware fault.
Please share any info if you had same issues. Thank you all in advance!