Page 9 - 5
Motor & Resolver Circuitry
Electrical
Troubleshooting Guide
IRB6400 M94A
9.2.3 Robot Computer
The Robot Computer (DSQC 326) will compare the
commanded position from the main computer with the
actual position (the actual position is found by use of the
resolvers). If there is a difference between the actual
and the commanded position, a signal will be sent
through the ribbon cable to the drive system. The Drive
system will move the motors to make the actual position
match the commanded position.
When the robot is not moving, there is no signal being
sent to the drive system other than a signal to hold the
motor in position.
When the computer is executing a move in the program,
the command will change causing the robot computer
to send a signal to the drive system to make the motors
move to the commanded positions.
If the commanded position differs from the actual position
more than the allowed amount (determined by the
software and speed), the robot computer will shut the
system down and generate an error.
The signals sent from the robot computer to the Drive
system are sent in pairs of two for each axis. These
signals are sent through a 64 conductor ribbon cable.
The two phases are known as 'R' and 'S' phases. These
two of the three phases are needed by the motor. The
third phase is calculated by the Drive unit.
Troubleshooting of the Robot Computer can be
difficult. Refer to Chapter 2 - Computer System for
trouble shooting procedures.
Fig. 9-1 ............
Fig. 9-4 ............
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