ABB S4, Electrical Troubleshooting Manual

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Calibration Procedures
Electrical
Troubleshooting Guide
IRB6400 M94A
10.5 Counter Updating Procedure
The Serial Measurement Board (SMB) keeps track of
the current resolver revolution count. To keep track of
these revolution counts even when power is turned off,
the SMB has a rechargeable battery attached to it.
When a new machine is shipped from the factory this
battery may not be charged. The control must be
connected to the robot, and with the main disconnect
turned ON, it takes 18 hours to fully charge this battery.
It should maintain a charge for approximately 1000
hours. If this battery looses its charge, an error
“ 20032
Rev counter not updated” will be given after a power
outage.
Other reasons for having to update counters are:
- When a resolver error has occurred
- When the signal between the resolver and SMB
has been interrupted.
- When one of the manipulator axis has been moved
without the controller being connected.
You should NOT have to update the counter upon
powering off and back on again. If you do there is
a problem in the system.
1. Move the robot to the calibration position. Axis may
be moved and updated individually, except for axis
three. Axis threes position depends on axis two’s
position. Always have axis two in position before
moving axis three into position.
IMPORTANT Axis 6 has no hard stops which means that
when a robot does not have its revolution counters
Axis 6 is allowed to rotate endlessly. However the
revolution counter will only be correct at one
position and being multiple axis revolutions off
won’t work.
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