ABB IRC5 Product Manual page 92

2 Installation and Commissioning, IRC5
2.6.2. Drive System 04 or 09?
Continued
Drive System 09
In Drive system 09 there is only one unit including rectifier, capacitors and drive units for all
robot axes, the Main Drive Unit. The axis computer used with Drive System 09 is slightly
smaller than the one for Drive System 04.
xx1000000001
A
B
C
D
E
90
Main Drive Unit for large robots
Main Drive Unit for small robots
Additional Drive Units (for additional axes)
Additional Rectifier Unit (only used for additional axes in combination with
small robots)
Axis computer
3HAC021313-001 Revision: P