Track Motion IRBT6004 and IRB660 issues

Hello everyone,

I've had some issues trying to create a system with additional axis.

It seems that IRB660 is not compatible with IRBT6004 TrackMotion, but I saw it working on a video:

https://www.youtube.com/watch?v=cBpmkFKqzg4

Is there any way to manually configure/enable the system? In order to the system allow this trackmotion?

In the Product specification FlexTrack IRT 501-66/66R/90/90R document, page 18, it says:

IRB660 is compatible with IRT 501 Track motion, but it just does not appear in RobotStudio libraries

How do I can download and load a IRT 501 RobotStudio library?? I found a document that tries to solve this, but the link to download the files are outdated...

https://library.e.abb.com/public/60c8fdd8134b2c1d482577ee001e5d07/How to load custom made libraries into Robot Studio.pdf



Basically I need to mount an IRB660 on a trackmotion no matter what model I'm using to.

I have 3 possible solutions:

1.-Try to succesfully configure IRB660 + IRBT6004 system
2.-Try download and load a IRT 501 RobotStudio library, into my RobotStudio
3.- (Less desirable) To make a custom track motion and find out how to make it compatible with IRB660

Thanks for any insight/help/solution you could give me. Best regards,

Pablo Liberona