IRB6400/F/2.4-120E M94A S4

Robot Controller
1

I need help.

I bought a robot.

Man order: 099618
Ref.No R6411380009
Serial No 6400-4988

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Along with him were such discs:

Program no 3HAB2333-1/07
Serial no IRB6400-5424
Boot discette label text:BaseWare OS 2.1

Program no 3HAB2356-1/03
Serial no IRB6400-5424
Boot discette label text:Teach Pendant Text 2.1

Program no 3HAB2342-1/04
Serial no IRB6400-5424
Boot discette label text:IRB 6400 2.1

Program no 3HAB2344-1/00
Serial no IRB6400-5424
Boot discette label text:Advanced Functions 2.1

ELMO drives are installed on all axes, for example 5 axes

Type: PS 130/6-50-P-PMB-3739
Art.No. 3 HAB 4042-1/5
Serial No. 605.5890540

If you install this software and choose when installing type 2.4-120 M96, the robot does not work at all, no axis is visible, a bunch of errors, 40092, 10051, 8589 Our serial number works differently than on disks.

maybe someone has the correct files?

Now I’ll try to fix the config file

EIO:CFG_1.0:2:1::

EIO_UNIT:

-Name “i_o_1” -Type “a315” -Bus “BAS” -Address 1 -Vector1 0 -Vector2 0
-Digin 16 -Digout 16 -Anin 0 -Anout 2 -Poll 0 -DataRate 0 -LinkAddr 0
-StartQ 0 -RackSize 0 -SlotAddr 1 -IBRackSize 1

-Name “i_o_2” -Type “d223” -Bus “BAS” -Address 2 -Vector1 0 -Vector2 0
-Digin 16 -Digout 16 -Anin 0 -Anout 0 -Poll 0 -DataRate 0 -LinkAddr 0
-StartQ 0 -RackSize 0 -SlotAddr 2 -IBRackSize 1

-Name “i_o_3” -Type “d223” -Bus “BAS” -Address 3 -Vector1 0 -Vector2 0
-Digin 16 -Digout 16 -Anin 0 -Anout 0 -Poll 0 -DataRate 0 -LinkAddr 0
-StartQ 0 -RackSize 0 -SlotAddr 3 -IBRackSize 1

EIO_SIGNAL:

2

Reinstalled with standard settings, the controller started up. But there are errors.

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3

Reinstall, you chose the wrong Dc link.

4

Can someone send me the correct configuration files for my robot?
Since in the IRBCFG folder all configurations with the wrong dс-link

DC_LINK - ?

DC_LINK:

-name “dc_link” -type “DSQC_249B” -type_code 15 -u_rect_coef 0.95

Or can manually change type the dc-link in config, will it work like that?

Here is the beginning of my script.

Install.cmd script for the S4 system rel 2.1 /pe 960216

Install questions

var 3 = irb variant

echo -text “”
echo -text “IRB 6400 M96 S4 2.1”
echo -text “”
#TYPE_6400
echo -text “Select IRB6400 M96 model :”
query -text “2.4-120 2.4-150 2.8-120 S2.9-120 SCAN”
-text2 “3.0-75 2.4-balB SCAN” -var 3 -fk_text
if -var 3 -value 10 -label IRB6400_24_120
if -var 3 -value 20 -label IRB6400_24_150
if -var 3 -value 30 -label IRB6400_28_120
if -var 3 -value 40 -label IRB6400S_29_120
if -var 3 -value 110 -label IRB6400_30_75
if -var 3 -value 120 -label IRB6400_24_BALB
goto -label END_LABEL