# Creating a track from a mechanism

**URL:** <https://tech-community.robotics.abb.com/t/creating-a-track-from-a-mechanism/1362>\
**Category:** RobotStudio\
**Created:** [July 30, 2007, 5:41pm UTC](https://tech-community.robotics.abb.com/t/creating-a-track-from-a-mechanism/1362 "2007-07-30T17:41:59Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![lukasik](https://avatars.discourse-cdn.com/v4/letter/l/e47774/32.png) [@lukasik](https://tech-community.robotics.abb.com/u/lukasik)\
**Post date:** [July 30, 2007, 5:41pm UTC](https://tech-community.robotics.abb.com/t/creating-a-track-from-a-mechanism/1362/1 "2007-07-30T17:41:59Z")

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Hello,

I need to create a system with an inverted IRB6620 mounted to a Gudel gantry integrated as a track motion. I’ve been gathering all the help files and samples I can find to try sorting this out.

First question is whether anyone can point to info about creating a track from a mechanism. I think I need to have a .cfg file for the controller to recognize the mechanism as a track.

Secondly: I was trying to follow the example for creating a system with one robot and a track motion (using the New Controller System Wizard and substituting a IRB6620 for the IRB4400 in the example ). In the last step (DriveModule1 / Additional axes configuration) there is no listing for the IRB6620 robots. Any suggestions what selections might work here?

Thanks, and best regards,

Bob

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**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\
**Post date:** [August 7, 2007, 10:55am UTC](https://tech-community.robotics.abb.com/t/creating-a-track-from-a-mechanism/1362/2 "2007-08-07T10:55:11Z")

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Hello,

If the mechanism is made as an “External Axis” in the “Create Mechanism” tool, you can use it as a track. But it is correct that you need a .cfg file for the track. These files comes with the RS installation. In the folder “C:Program FilesABB Industrial ITRobotics ITRobotStudioABB LibraryTracks” you will find cfg files for different track lengths and for different tasks (if you have a MultiMove system).

For the additional axes configuration, you can select a drive module for IRB 6600 (Drive Win pos Y2)

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**Author:** ![lukasik](https://avatars.discourse-cdn.com/v4/letter/l/e47774/32.png) [@lukasik](https://tech-community.robotics.abb.com/u/lukasik)\
**Post date:** [August 7, 2007, 2:26pm UTC](https://tech-community.robotics.abb.com/t/creating-a-track-from-a-mechanism/1362/3 "2007-08-07T14:26:23Z")

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Hi Anders,

Thank you so much for the helpful info.

Regards,

Bob