ABB IRB 6400R Product On-Line Manual page 276

External Axes
5.3.3 Measurement System
There are two measurement system systems, 1 and 2. Each system is connected to the
CPU board via a serial link. The serial link is of ring type with board 1 connected to
CPU-board serial output. The last Serial Measurement Board (SMB) is connected to the
CPU-board serial input.This link also supplies power to the SMB.
Measurement System 1 can consist of up to two SMB, one used for the robot manipu-
lator, the other one for one external axis, normally a track motion. The external axis
must be connected to node 4 and in the configuration file be addressed as logical node
7.
Measurement System 2 can consist of one to four SMB boards. The board numbering
always starts with board 1. No gaps may occur in the number sequence. Every axis con-
nected to a measuring system must have an unique node number. While the node
number is the same as physical connection, the physical connection node must also be
unique.
Each SMB has 6 connection nodes for resolvers. A battery supplies the SMB with
power during power fail. If the axes move during power fail the internal revolution
counters are automatically updated. After power on the system is ready for operation
without any synchronization procedure.
A special configuration can be used with no robot connected. Only Measurement Sys-
tem 1 with one or two SMB may be used. Up to 6 external axes can be connected to
those boards. See configuration files in Figure 77.
MEASUREMENT SYSTEM 1
configuration files MN4M1Dx
Robot manipulator
Serial
Measurement
Board 1
6 resolvers
Serial
Measurement
Board 2
1 resolver
Figure 64 Measurement systems.
106
CPU
Measurement
System 1
serial
communi-
cation
node 4
Installation and Commissioning
MEASUREMENT SYSTEM 2
configuration files MNxM2Dx
Serial
Measurement
Board 1
Serial
Measurement
Board 2
Serial
Measurement
Board 3
Serial
Measurement
Board 4
Product Manual IRB 6400R
CPU
Measurement
S System 2
serial
communication
Max 6
resolvers
(5 if
one axis
connected to
Measurement
).
System 1)