ABB IRB6400 - Page 7

TOC - IV Table of Contents
8.5 List of Circuit Diagrams .................................... 8-9
8.6 Component Location Figures .......................... 8-23
Figure 8-1 Power Unit ..................................................8-23
Figure 8-2 System Board .............................................8-25
Figure 8-3 Robot Brake Buttons...................................8-27
Figure 8-4 Power System Board Connections..............8-29
Figure 8-5 Robot Axes .................................................8-31
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
10. Calibration Procedures........................................10-3
10.1 Overview ......................................................... 10-3
10.2 "Rough" Resolver Calibration Procedure ........10-4
10.3 Manually Entering Calibration Values ............ 10-10
10.4 Precision Resolver Calibration Procedure ....10-14
10.4.1 Calibrating Axis 1 ............................................10-15
10.4.2 Calibrating Axis 2-6.........................................10-16
10.5 Counter Updating Procedure ......................... 10-23
11. Inputs & Outputs..................................................11-3
11.1 Overview ......................................................... 11-3
11.2 I/O Boards ....................................................... 11-4
11.2.1 Digital I/O Board DSQC 223..............................11-4
11.2.2 Analog I/O Board DSQC 209.............................11-5
Table of Contents (Cont)Table of Contents (Cont)
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