ABB IRC5 Product Manual page 81

Disconnect the Drive Module
The following procedure details how to disconnect a Drive Module.
Reconnect the Drive Module
The following procedure details how to reconnect the Drive Module.
Connect a remote switch
The following procedures details how to connect a remote switch.
3HAC021313-001 Revision: P
2.5.14. Connection of Drive Module Disconnect, by limit switch
Action
1. Make sure that the system is in the
MOTORS_OFF state.
2. Disconnect the connector X22.
Action
1. Make sure that the system is in the
MOTORS_OFF state.
2. Reconnect the X22 connector.
3. Move the program pointer to main in the
RAPID-program where the disconnected
mechanical units are active.
Action
1. Make sure that the system is in the
MOTORS_OFF state.
2. Disconnect the jumpers from the connector
X22.
2 Installation and Commissioning, IRC5
Note/illustration
It is also possible to use connector X21,
but this is typically used for limit switches
on the robot.
xx
Note/illustration
xx0500002087
Note/illustration
Continued
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