Installation and Commissioning

External AxesInstallation and Commissioning5.3.3 Measurement SystemThere are two measurement system systems, 1 and 2. Each system is connected to theCPU board via a serial link. The serial link is of ring type with board 1 connected toCPU-board serial output. The last Serial Measurement Board (SMB) is connected to theCPU-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 manipulator,the other one for one external axis, normally a track motion. The external axismust be connected to node 4 and in the configuration file be addressed as logical node7.Measurement System 2 can consist of one to four SMB boards. The board numberingalways starts with board 1. No gaps may occur in the number sequence. Every axis connectedto a measuring system must have an unique node number. While the nodenumber is the same as physical connection, the physical connection node must also beunique.Each SMB has 6 connection nodes for resolvers. A battery supplies the SMB withpower during power fail. If the axes move during power fail the internal revolutioncounters are automatically updated. After power on the system is ready for operationwithout any synchronization procedure.A special configuration can be used with no robot connected. Only Measurement System1 with one or two SMB may be used. Up to 6 external axes can be connected tothose boards. See configuration files in Figure 70.MEASUREMENT SYSTEM 1configuration files MN4M1DxRobot manipulatorMEASUREMENT SYSTEM 2configuration files MNxM2DxCPUSerialMeasurementBoard 1CPUSerialMeasurementBoard 1MeasurementSystem 2serialcommunication6 resolversSerialMeasurementBoard 21 resolvernode 4Measurementment System 1serialcommunicationSerialMeasurementBoard 2SerialMeasurementBoard 3Max 6resolvers(5 ifone axisconnected toMeasurement). System 1)SerialMeasurementBoard 4Figure 57 Measurement systems.96 Product Manual IRB 1400