Electrical
Troubleshooting Guide
IRB6400 M94A
Page 9 - 4
Motor & Resolver Circuitry
9.2 Computer
The computer section of this loop is made up of three
boards:
1) Main Computer Board
2) Memory Board
3) Robot Computer Board
9.2.1 Main Computer
The Main Computer Board (DSQC 316) generates
what is known as a “pose”. A pose is the planned
motions that the robot is to execute. Taken into account
in a pose is the robot's position, the load of the tooling,
the tooling length and orientation, the effects of gravity
and inertia, and other such data required to get peak
performance from the drive system. The pose is
generated by the customers program or by moving the
joystick. The computers software and the customers
parameters determines the exact calculations for
creating a pose. The main computer will send a
commanded (move to) position to the robot computer
board through the computer back plane.
Troubleshooting of the Main Computer Board can
be difficult. Refer to Chapter 2 - Computer System for
trouble shooting procedures.
9.2.2 Memory Board
The Memory Board (DSQC 317 or 321) is an extension
of the main computers memory. It is used to store
information used by the main computer.
Troubleshooting of the Memory Board can be difficult.
Refer to Chapter 2 - Computer System for trouble
shooting procedures.
Fig. 9-1 ............
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