Will modifying Absolute Data affect previous robot back-ups?

[sheps0101]

Hello all

If you replace a servo motor on a motoman robot and then modify the absolute data will it affect any previous program back ups you have taken in the past based on older absolute data?

Currently when I replace a servo motor (b axis for example) I will do the following steps

1) record current servo motors abs data
2) power off robot
3) disconnect drive belt
4)disconnect old motor
5) connect new motor but not the drive belt
6) enter the abs data from previous motor
7) drive the motor until "0" pulse count is reached
8) re-install drive belt


Is the belt removal and and entering of the old motor data uncessary? If so why does motoman give you the pulse count information of each servo motor on a printed tag inside the robot controller? thanks in advance!

[Robo Guru]

It is printed on the label incase something happens to the controller memory.  For instance, if the CPU goes bad and you did not have a backup, you could punch in the #'s on the sticker and your robot would be perfectly calibrated.

RoboGuru

[sheps0101]

If your CPU goes bad before you punch in the #'s does the robot have to be at its zero position?

[Robo Guru]

Those #'s are the robot's "zero" position.  The numbers represent the value's output from the encoder when the axis is at the zero/master position.

You can punch them in with the robot at any location.

[tony gast]

All jobs a build based on positions related to 0,0,0,0,0,0

ABSO data is the motor position related to 0.......the abso is only the motor offset to 0
Having different abso data after changing a motor does not affect jobs....as long as the motor goes to 0 when requested (calibrated correctly)

When I change a motor:
1 remove and replace motor
2 drive to the 0,0,0,0,0,0 postion
3 calibrate home
4 check known points and make minor changes to abso data (via key entry on ONLY the replaced axis) to correct any calibration errors done