FlexPendant Operators Manual 3HAC16590 ... - Technology

11 Calibrating11.6. Serial Measurement Board memory11.6. Serial Measurement Board memorySerial Measurement Board, SMBThe Serial Measurement Board, SMB, primarily gathers resolver data from the robot’s (oradditional axes) motors. This data is used to measure the speed and position of each axis.Each SMB is capable of measuring up to 7 axes. It also stores a number of data pertaining toeach robot.This data is used by the controller and can be transferred between the SMB and the controller.Normally, the data is transferred automatically, but it can also be done manually.The SMB data is affected when:• the robot is replaced• the SMB is replaced• the controller (or its flash disk) is replaced.• updating with new calibration dataThe following data is stored on the SMB:• serial number for the mechanical unit• joint calibration data• Absolute Accuracy data• SIS dataNote that if the IRC5 controller is to be connected to a robot with an older SMB, not equippedwith data storage capability, the SMB needs to be replaced.SMB data updateIf...the flash disk or the complete controller isnew or replaced by an unused spare part...the SMB is replaced by a new, unused, sparepart SMB...the flash disk or the complete controller isreplaced by a spare part, previously used inanother system...the SMB is replaced by a spare part SMB,previously used in another system...new calibration data has been loaded viaRobotStudio Online or using the FlexPendantand the system has been restarted...then...the data stored in the SMB is automaticallycopied to the controller memory.the data stored in the controller memory isautomatically copied to the SMB memory.the data in the controller memory and theSMB memory is different. You must updatethe controller memory manually from thethe SMB memory.the data in the controller memory and theSMB memory is different. You must first clearthe data in the new SMB memory, and thenupdate the SMB memory with the data fromthe controller memory.the data in the controller memory and theSMB memory is different. You must updatethe SMB memory manually from thecontroller memory.Check that the new calibration values belongto a manipulator with the serial numberdefined in your system.280Continues on next page3HAC 16590-1 Revision: B