Electrical
Troubleshooting Guide
IRB6400 M94A
Page 2 - 22
Computer System
2.5 Serial Measurement Board (SMB)
The SMB is located in the robot. The SMB does not
have any LEDs located on it.
The SMB reads the resolvers feedback and converts
the analog voltage into a digital signal. Then the SMB
converts the digital signal into a serial communication.
The position of all six (6) axes resolvers are
communicated to the robot computer every .5msec.
The SMB can be checked most thoroughly with an
Oscilloscope. The signals to check for are the Serial
Data Out (SDO) and the Serial Data In (SDI). Another
signal to check would be the exciter signal going to the
resolvers. Use the Oscilloscope to check for proper
amplitudes and ensure that there is no noise on these
lines.
If the SMB is replaced, the resolver revolution counts
will have to be updated. Refer to Chapter 10 - Calibration
Procedures for the proper procedure.
Fig. 2-3 ..............
Sheet 13.1, line 01..........
R2.X3
R2 SMB 1-2
R2.X4
R2 SMB 1-4
R2.X5
R2 SMB 3-6
R2.X2
R2 SMB
1
3
5
7
2
4
6
8
M2
M1
R2.G
TEST POINTS
1 0V EXC1 2 EXC1
3 Y1 4 X1
5 Y2 6 X2
7 Y3 8 X3
Test Connector 1
1 0V EXC2 2 EXC2
3 Y4 4 X4
5 Y5 6 X5
7 Y6 8 X6
Test Connector 2
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