Independent movement of robot 1-5 axes

    Hello,

    We have an old ABB robot IRB 6650S with IRC5 controller. We would like to disassemble it's motors and use them on custom build mechanism, based on linear move axis. For this purpose we need to have possibility to control all 6 axes of the robot independently. I see there is an option called 610-1 Independent Axes, but there is limitation to use it only for 6th axis (for understandable reason, because 1-5 axes have mechanical limits). In our case we won't have these mechanical limits, because we will install these motors on another mechanism without these limitations. Is it somehow possible to "workaround" this software limitation and use independent control of 1-5 axes as well?

  • SkyeFire June 3, 2024 at 4:47 PM

    Approved the thread.

    I've seen a stand alone controller used with no robot. It was running multiple shuttles on an ABB built spot weld line. It had specific specific software/drive keys to allow this. You may want to contact ABB and get a price.

    Looking at manual, 604-2 MultiMove Independent may be close. Assume Multitasking is also important.

    Thank you Skooter for reply. I have both MultiMove Independent and Multitasking options on robot system. Maybe I'll try to create new system and see if it lets me create it without robot. I'll try to put 6 external axes instead. I just wonder if it will let me to use drive module dedicated for 6 axes robot for using with external axes, because normally special drive modules with 1 motor channel are used for external axes. Standard ABB robot controller box could have 1 drive module with 6 channels for robot axes and 3 drive modules with 1 channel output for external axes.

    If it is in the RW5.15.XX or newer family, there is a choice in DriveModule Options for Drivemodule only or No IRB manipulator.

    I am many years removed from anything newer than 5.15, but suspect it is possible with newer RW.

    A user known to me does have a multi-motor construct WITHOUT a TCP-robot running with RW6.0X. I do not know how those are created in Installation Manager.

    The controller I saw was using just the 3 large current (W) sections a 6-axis system 09 amp plus 2 or 3 externals. Like SomeTekk, it's been quite awhile. Customer let me look it over during shift change cause I was super curious on what was inside. Software was 5.15 or 5.61, not 6.xx.

    Thank you for all replies. Our system is running on RW5.12, DSQC 639 robot controller and Drive System 04. Yesterday I've tried to make a new system with Robotstudio, but unfortunately without luck. Drive Modules keys are generated for IRB 6650S manipulators and do not let me to select application option "Additional Motors or No IRB manipulator", which would let me to use these Drive Modules for Single (independent) Axes control. I guess the only way to move forward is to make contact with local ABB and order to generate new keys for Drive Modules...

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