Revolution counters and callibration

Simotion

I know that the offset of the position within one turn is saved on the axis cpu, and from robotware 5.13 on also on the SMB-board.

But why are the revolution counters only stored on the smb-board?

What happens if I manually release the brake of an axis when the cabinet is powered off?
Is the revolution counter in the SMB board then still updated?
Is there a copy of the revolution counter in the axis cpu?
How does the whole system with the revolution counter and position whithin one revolution work exactly? What is transfered between what components? What is checked at power up?

mattdavis

I dont know the details about where it is stored, but if you move the robot when it is powered off (or disconnected from the cabinet) it will tell you it needs a recalibration when it is next powered up. So you just need to do the rough calibration to get it within one revolution and the fine calibration stays the same. The only time you should need to do a fine calibration is if you physically change something on the robot (motor, gearbox, damage).

Henrik Berlin

Moved to RobotWare.