Page 9 - 1
Motor & Resolver Circuitry
Electrical
Troubleshooting Guide
IRB6400 M94A
Motor & Resolver Circuitry
Table of ContentsTable of Contents
9. Motor & Resolver Circuitry..................................9-3
9.1 Overview .......................................................... 9-3
Diagram 9-1 Closed Loop System ........................... 9-3
9.2 Computer.......................................................... 9-4
9.2.1 Main Computer...................................................9-4
9.2.2 Memory Board....................................................9-4
9.2.3 Robot Computer.................................................9-5
9.3 Drive System Boards ........................................ 9-6
9.3.1 Rectifier..............................................................9-6
Diagram 9-2 Rectifier .............................................. 9-6
9.3.2 Drive Unit...........................................................9-8
Diagram 9-3 Drive Board ........................................ 9-8
9.4 Motors .............................................................. 9-9
Diagram 9-4 Simplified Motor .................................. 9-9
Diagram 9-5 'Y' Motor Wiring Configuration ............9-10
9.5 Resolver .......................................................... 9-12
Diagram 9-6 Resolver Coil Relationships ...............9-12
9.6 Serial Measurement Board (SMB) .................... 9-13
9.7 Component Cross Reference .......................... 9-15
9.8 List of Circuit Diagrams ................................... 9-17
9.9 Component Location Figures .......................... 9-31
Figure 9-1 Back Plane AP80........................................9-31
Figure 9-2 Drive System Boards ..................................9-33
Figure 9-3 Robot Axis Motors.......................................9-35
Figure 9-4 Drive Connectors ........................................9-37
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