Installation Recommendations - ABB IRC5 Applications Manual

2 Machine Synchronization

2.2.1.3. Installation recommendations

2.2.1.3. Installation recommendations
Overview
The encoder must be installed in such a way that it gives precise feedback of the sensor output
(reflects the true motion of the external device). This means that the encoder should be
installed as close to the robot as practically possible, no further away than 30 meters.
The encoder is normally installed on the drive unit of the external device. The encoder may
be connected to an output shaft on the drive unit, directly or via a gear belt arrangement.
NOTE!
The encoder is a sensitive measuring device and for that reason it is important that no other
forces than the shaft rotation are transferred from the sensor to the encoder and that the
encoder is mounted using shock absorbers etc. to prevent damage from vibration.
Placement
The following is to be considered before start-up
If...
the drive unit includes a
clutch arrangement
the encoder is connected
directly to a drive unit shaft
the drive unit of the external
device is located far away
from the encoder
32
Then...
the encoder must be connected on the sensor side of the
clutch.
it is important to install a specially designed flexible coupling to
prevent applying mechanical forces to the encoder rotor.
the moving device itself may be a source of inaccuracy as the
moving device will stretch or flex over the distance from the
drive unit to the encoder cell. In such a case it may be better
to mount the encoder closer to the drive unit with a different
coupling arrangement.
3HAC18154-1 Revision: F