Multimove without ethernet card

Robot Controller
1

hi all

This is my situation, we have in the university two
robots IRB-140 each one with one controller irc5 single cabinet and I
want to do multimove but we don’t have a drive module so I have
disconnected signal safety cable and ethernet cable from one
controller and have connected them to the second controller(thi) after
that I can activate the robot. the problem is that the second controller
doesn’t have ethernet card so there is only one port(AXC) to connect
de drive module, I saw in this
page http://developercenter.robotstudio.com/BlobProxy/manuals/SysParametersTechRefManual/doc7.html
this “If MultiMove is used, AXC is connected to a switch that connects
to all the axis computers.” so I have connected a switch to AXC port
and ethernet cables from drive modules to the switch after I start
the controller this releases the event message 39525 Drive Module startup error. I don’t know how to fix it please someone help me.

2

We have tried doing the same thing and found that if you use the ABB switch (part number 3HAC045976-001) it works.

Note you have to connect things in the correct order also (see attached) - the main computer axis computer port is connected to port 5 on the switch, the axis computer from the same cabinet is connected to port 1, and the axis computer in the second cabinet (where you are not using the main computer) is connected to port 2.

You also need to connect the safety signals up as per the attachment.
Multimove Safety connections.pdf (600 KB)
MultiMove Ethernet Connections.pdf (538 KB)