Professional Documents
Culture Documents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Safety 7
1.1 Safety signals, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Safety during trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Applicable safety standards for IRC5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Safe Trouble Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4.1 DANGER - Manipulator without axes' holding brakes are potentially lethal! . . . . . . . . . . . . . . . 11
1.4.2 DANGER - Live voltage inside Drive Module!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4.3 WARNING - The unit is sensitive to ESD! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4.4 CAUTION - Hot parts may cause burns! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3
Table of Contents
4
Overview
Overview
Usage
This manual should be used whenever robot operation is interrupted by malfunction,
regardless of whether an error message is displayed on the FlexPendant or not.
Prerequisites
The reader should...
• have extensive experience in trouble shooting industrial electro-mechanical
machinery
• have indepth knowledge of the robot system function
• be familiar with the actual robot installation at hand, it's surrounding equipment and
peripherals
References
A list of document references is given in section Document references on page 80
Revisions
Revision Description
- First edition
A Information has been added
The document has been partly restructured
3HAC020738-001 Revision: A 5
Overview
6 3HAC020738-001 Revision: A
1 Safety
1.1. Safety signals, general
1 Safety
1.1. Safety signals, general
General
This section specifies all dangers that may arise from performing the work detailed in the
manual. Each danger is detailed in its own section consisting of:
• A caption specifying the danger level (DANGER, WARNING or CAUTION) and the
type of danger.
• A brief description of what will happen if the operator/service personnel do not
eliminate the danger.
• An instruction of how to eliminate the danger to facilitate performing the activity at
hand.
Danger levels
The table below defines the captions specifying the danger levels used throughout this
manual.
Electrical shock
Electrostatic discharge
(ESD)
Note
Tip
8 3HAC020738-001 Revision: A
1 Safety
1.2. Safety during trouble shooting
General
All normal service work; installation, maintenance and repair work, is usually performed with
all electrical, pneumatical and hydraulic power switched off. All manipulator movements are
usually prevented by mechanical stops etc.
Trouble shooting work differs from this. While trouble shooting, all or any power may be
switched on, the manipulator movement may be controlled manually from the FlexPendant,
by a locally running robot program or by a PLC to which the system may be connected.
3HAC020738-001 Revision: A 9
1 Safety
1.3. Applicable safety standards for IRC5
Standard Description
EN ISO 12100-1 Safety of machinery, terminology
EN ISO 12100-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control systems
EN 775 Manipulating industrial robots, safety
EN 60204 Electrical equipment of industrial machines
EN 61000-6-4 (option) EMC, generic emission
EN 61000-6-2 EMC, generic immunity
Standard Description
IEC 204-1 Electrical equipment of industrial machines
IEC 529 Degrees of protection provided by enclosures
Standard Description
ISO 10218 Manipulating industrial robots, safety
ISO 9787 Manipulating industrial robots, coordinate systems and motions
Standard Description
ANSI/RIA 15.06/1999 Safety requirements for industrial robots and robot systems
ANSI/UL 1740-1998 Safety standard for robots and robot equipment
(option)
CAN/CSA Z 434-03 Industrial robots and robot systems - General safety
(option) requirements
10 3HAC020738-001 Revision: A
1 Safety
1.4.1. DANGER - Manipulator without axes' holding brakes are potentially lethal!
1.4.1. DANGER - Manipulator without axes' holding brakes are potentially lethal!
Description
Since the manipulator arm system is quite heavy, especially on larger manipulator models, it
is dangerous if the holding brakes are disconnected, faulty, worn or in any way rendered non-
operational.
For instance, a collapsing IRB 7600 arm system may kill or seriously injure a person standing
beneath it.
Elimination
3HAC020738-001 Revision: A 11
1 Safety
1.4.2. DANGER - Live voltage inside Drive Module!
Description
The Drive Module has live voltage potentially accessible directly behind the rear covers and
inside the front cover, even when the main switches have been switched off.
xx0400001207
A Live voltage at transformer terminals even if the main power switches have been
switched off.
B Live voltage at Motors ON terminals even if the main power switches have been
switched off.
Elimination
Read this information before opening the rear cover of either module.
Step Action
1. Make sure the incoming mains power supply has been switched off.
2. Use a voltmeter to verify that there is not voltage between any of the terminals.
3. Proceed with the service work.
12 3HAC020738-001 Revision: A
1 Safety
1.4.3. WARNING - The unit is sensitive to ESD!
Description
ESD (electro static discharge) is the transfer of electrical static charge between two bodies at
different potentials, either through direct contact or through an induced electrical field. When
handling parts or their containers, personnel not grounded may potentially transfer high static
charges. This discharge may destroy sensitive electronics.
Elimination
xx0400001061
3HAC020738-001 Revision: A 13
1 Safety
1.4.4. CAUTION - Hot parts may cause burns!
Description
During normal operation, many manipulator parts will become hot, especially the drive
motors and gears. Touching these may cause burns of various severity.
Elimination
The instruction below details how to avoid the dangers specified above:
14 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.1. Types of symptoms
Symptoms
A fault in the robot system first appears as a symptom, which may be:
• an event log message displayed on the FlexPendant. A complete listing of these
messages is presented in Trouble shooting manual, part 2 of 2, event log messages.
• the system performing poorly or displaying mechanical disturbances. These faults
are described in section Faults without event log messages on page 16
• the system may not be started or displays irrational behavior during startup. These
faults are described in section Faults without event log messages on page 16
• indications on the hardware, such as LEDs. The significance of each LED in the
controller is described in section Indications on page 122
• other types of symptoms. Since the system is complex and features a large number of
functions and function combinations, it is virtually impossible to predict all types of
faults. To facilitate trouble shooting on a broader scale, a number of descriptions are
provided in chapter Descriptions and background information on page 79These
include descriptions of the complete systems, parts and components in the system and
specific functions performed by the system for reference purposes. Included in section
Recommended working procedures on page 37are recommendations on how to
perform frequently occurring events. This enables operator and service personnel to
make sure any malfunction is not due to incorrect handling of the system.
3HAC020738-001 Revision: A 15
2 Fault symptoms and malfunctions
2.2.1. Start-up failures
Description
This section details possible faults at start-up, and specify recommended actions for each
case.
Consequences
The system does not start correctly, or at all.
3HAC020738-001 Revision: A 17
2 Fault symptoms and malfunctions
2.2.2. Controller dead
Description
The robot controller is completely or intermittently" dead".
No indications are lit and no operation whatsoever is possible.
Consequences
The system may not be operated using the FlexPendant.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• The controller is not connected to the mains power supply.
• The main transformer is malfunctioning or not connected correctly
• The main fuse (Q1) may have tripped
• Missing connection between Control and Drive Modules.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
18 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.2.3. FlexPendant dead
Description
The robot FlexPendant is completely or intermittently "dead".
No entries are possible, and no functions are available.
If the FlexPendant starts up, but does not display any screen, proceed as detailed in section
FlexPendant does not communicate on page 22
Consequences
The system may not be operated using the FlexPendant.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• The system has not been switched on.
• The FlexPendant is not connected to the controller.
• The cable from the controller is damaged.
• The cable connector is damaged.
• The FlexPendant is faulty.
• FlexPendant power supply from controller is faulty.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
3HAC020738-001 Revision: A 19
2 Fault symptoms and malfunctions
2.2.4. All LEDs are dead
Description
No LEDs at all are lit on the Control Module or the Drive Module respectively.
Consequences
The system may not be operated or started up at all.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• The system is not supplied with power.
• The main transformer may not be connected for the correct mains voltage.
• Circuit breaker F6 (if used) may be malfunctioning or open for any other reason.
• Contactor K41 may be malfunctioning or open for any other reason.
xx0500001405
Recommended actions
3HAC020738-001 Revision: A 21
2 Fault symptoms and malfunctions
2.2.5. FlexPendant does not communicate
Description
The FlexPendant starts up, but does not display any screen.
No entries are possible, and no functions are available.
The FlexPendant is not completely "dead". If it is "dead", proceed as detailed in section
FlexPendant dead on page 19
Consequences
The system may not be operated using the FlexPendant.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• The main computer has lost its power supply
• No communication is possible between FlexPendant and main computer.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
22 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.2.6. Erratic event messages on FlexPendant
Description
The event messages displayed on the FlexPendant are erratic and do not seem to correspond
to any actual malfunctions on the robot. Several types of messages may be displayed,
seemingly erroneously.
This type of fault may occur after major manipulator disassembly or overhaul, if not
performed correctly.
Consequences
Major operational disturbances due to the constantly appearing messages.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• Internal manipulator cabling not correctly performed. Causes may be: faulty
connection of connectors, cable loops too tight causing the cabling to get strained
during manipulator movements, cable insulation chafed or damaged by rubbing short-
circuiting signals to earth.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
3HAC020738-001 Revision: A 23
2 Fault symptoms and malfunctions
2.2.7. No voltage in service outlet
Description
Some Control Modules are fitted with service voltage outlet sockets, and this information
applies to these modules only.
No voltage is available in the Control Module service outlet for powering external service
equipment.
Consequences
Equipment connected to the Control Module service outlet does not work.
Probable causes
The symptom may be caused by (the causes are listed in order of probability):
• Tripped circuit breaker (F5)
• Tripped earth fault protection (F4)
• Mains power supply loss
• Transformers incorrectly connected
xx0500001403
Recommended actions
xx0500001404
3HAC020738-001 Revision: A 25
2 Fault symptoms and malfunctions
2.2.8. The joystick doesn´t work
Description
The system can be started but the joystick on the FlexPendant doesn´t seem to work.
Consequences
The robot can not be jogged manually.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• The Flexpandant may not have been connected correctly or the cable may be damaged.
• The power supply to the FlexPendant does not work correctly.
• The FlexPendant is malfunctioning.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
26 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.2.9. Reflashing firmware failed
Description
When reflashing firmware, the automatic process may fail.
The reflashing process is described in section Reflashing firmware and FlexPendant on page
58.
Consequences
The automatic reflashing process is interrupted and the system stops.
Possible causes
This fault most often occurs due to a lack of compatibility between hardware and software.
Consequences
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
3HAC020738-001 Revision: A 27
2 Fault symptoms and malfunctions
2.2.10. Inconsistent path accuracy
Description
The path of the robot TCP is not consistent. It varies from time to time, and this may
sometimes be accompanied by noise emerging from bearings, gearboxes or other locations.
Consequences
Production is not possible.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• Robot not calibrated correctly
• Robot TCP not correctly defined
• Parallel bar damaged (applies to robots fitted with parallel bars only)
• Mechanical joint between motor and gearbox damaged. This often causes noise to be
emitted from the faulty motor.
• Bearings damaged or worn (especially if the path inconsistency is coupled with
clicking or grinding noises from one or more bearings).
• The wrong robot type may be connected to the controller.
• The brakes may not be releasing correctly.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
3HAC020738-001 Revision: A 29
2 Fault symptoms and malfunctions
2.2.11. Oil or grease stains on motors and/or gearboxes
Description
The area surrounding the motor or gearbox shows signs of oil leaks. This may be at the base,
closest to the mating surface, or at the furthest end of the motor at the resolver.
Consequences
Besides the dirty appearance, in some cases there are no serious consequences. However, in
some cases the leaking oil lubricates the motor brake, causing the manipulator to collapse at
power-down.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• Leaking seal between gearbox and motor.
• Gearbox overfilled with oil
• Gearbox oil too hot
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
Caution!
Before approaching the potentially hot
manipulator component, observe the safety
information in section CAUTION - Hot parts may
cause burns! on page 14.
2. Inspect all seals and gaskets between motor and Replace seals and gaskets as
gearbox. The different manipulator models use specified in the Product Manual
different types of seals. for each robot.
3. Check the gearbox oil level. Correct oil level is specified in the
robot Product Manual.
4. Too hot gearbox oil may be caused by: Check the recommended oil level
• Oil quality or level used is incorrect and type as specified in the
• The robot work cycle runs a specific axis Product Manual for each robot.
too hard. Investigate whether it is Manipulators performing certain,
possible to program small "cooling extremely heavy duty work cycles
periods" into the application. may be fitted with vented oil
• Overpressure created inside gearbox. plugs. These are not fitted to
normal duty manipulators, but
may be purchased from your
local ABB representative.
30 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.2.12. Mechanical noise
Description
During operation, no mechanical noise should be emitted from motors, gearboxes, bearings
or similar. A faulty bearing often emits scraping, grinding or clicking noises shortly before
failing.
Consequences
Failing bearings cause the path accuracy to become inconsistent, and in severe cases, the joint
may seize completely.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• Worn bearings
• Contaminations have entered the bearing races
• Loss of lubrication in bearings
If the noise is emitted from a gearbox, the following may also apply:
• Overheating
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
Caution!
Before approaching the potentially hot
manipulator component, observe the
safety information in section CAUTION -
Hot parts may cause burns! on page 14.
2. Determine which bearing is emitting the
noise.
3. Make sure the bearing has sufficient As specified in the Product Manual for
lubrication. each robot.
4. If possible, disassemble the joint and As specified in the Product Manual for
measure the clearance. each robot.
5. Bearings inside motors are not to be Replace faulty motors as specified in
replaced individually, but the complete the Product Manual for each robot.
motor is replaced.
32 3HAC020738-001 Revision: A
2 Fault symptoms and malfunctions
2.2.13. Manipulator collapses on power-down
Description
The manipulator is able to work correctly while Motors ON is active, but when Motors OFF
is active, it collapses under its own weight.
The holding brake, integral to each motor, is not able to hold the weight of the manipulator
arm.
Consequences
The fault may cause severe injuries or death to personnel working in the area or severe
damage to the manipulator and/or surrounding equipment.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• faulty brake
• faulty power supply to the brake
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
3HAC020738-001 Revision: A 33
2 Fault symptoms and malfunctions
2.2.14. Robot brakes do not release
Description
When starting robot operation or jogging the robot, the internal robot brakes must release in
order to allow for movements.
Consequences
If the brakes do not release, no robot movement is possible, and a number of error log
messages may occur.
Possible causes
The symptom may be caused by (the causes are listed in order of probability):
• Brake contactor (K44) does not work correctly
• The system does not go to status Motors ON correctly.
• Faulty brake on the robot axis
• Supply voltage 24V BRAKE missing
xx0500001405
Recommended actions
This section details how to proceed when the robot brakes do not release.
3HAC020738-001 Revision: A 35
2 Fault symptoms and malfunctions
2.3.1. Overview, fault combinations
General
This chapter contains information on combinations of fault symptoms known to ABB.
These may be any combinations of faults, displayed or not displayed on the FlexPendant. In
time, the cause of more and more combinations will become known, and this section will be
appended.
36 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.1. Overview, trouble shooting
en0400001200
Additional information
In addition to the information given in this document, other documents may provide vital
information, e.g. the Circuit Diagram.
Such useful documents are listed in section Document references on page 80
38 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.2.1. General
3.1.2.1. General
Overview
Trouble shooting complex technical systems such as robot systems requires a systematic
approach. The personnel must be trained and qualified to perform the task, and will be helped
by using the correct tools and methods.
This section specifies some of these methods. Any special tools are specified in the section
Standard toolkit, trouble shooting on page 81.
Example
A specific IRB 7600 installation has a 12 VDC power supply to a tool at the manipulator
wrist. This tool does not work, and when checked, there is no 12 VDC supply to it.
• Check at the manipulator base to see if there is 12 VDC supply. Measurement show
there are no 12 VDC supply. (Reference: Circuit Diagram in the Product manual,
IRC5)
• Check any connector between the manipulator and the power supply in the controller.
Measurement show there are no 12 VDC supply. (Reference: Circuit Diagram in the
Product manual, IRC5)
• Check the power supply unit LED. (Reference: Indications on page 122)
General
A great deal of effort was put into writing the event log messages as well as the technical
documentation. Though imperfect, they may give vital clues. They are also constantly being
upgraded.
en0300000547
3HAC020738-001 Revision: A 43
3 Instructions, how to correct faults
3.1.3.1. Filing an error report
Introduction
If you require the assistance of ABB service personnel in trouble shooting your system, you
may file a formal error report as detailed below.
Depending on what the fault symptoms are, these files may be included in an Error Report:
• Event log file. Contains a list of all system events.
• Backup files. Is a regular complete backup.
• Resource usage report. This file contains information on how the system is handling
it's system resources.
• System dump. This is an instant dump of specific parts of the primary memory.
The contents and structure of the main computer primary memory during operation is
described in section The structure of the main computer RAM memory contents on page 117
44 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.3.2. Resource usage report
Overview
The resource usage report may be used to serve two separate needs:
• To periodically monitor the system's usage of system resources in order to ensure that
it will not run into problems due to using up the resources.
• To provide reference information to the ABB service personnel, should a malfunction
arise.
How to file a complete Error Report is detailed in section Filing an error report on page 44
Step Action
1. Connect the PC to the main computer COM1 serial port connector..
2. Start the PC, and then the terminal program.
3. Type report_resource_usage, and then press Enter.
"Generating report..." will be shown.
4. After a while a message is shown:
"Resource usage report has been generated. Output file is: /hd0a/
"your_system_name"/INTERNAL/REPORTS//resources_usage.log"
5. You may now access the file over the factory LAN or the Service Port.
6. If required, e-mail the file to your local ABB representative.
Overview
To assist in trouble shooting the system, the System dump may be used. It supervises specific
parts of the system and it's functions, and may be included in a complete Error Report.
How to file a complete Error Report is detailed in section Filing an error report on page 44
System dump
The system dump is automatically created when the system goes to SYS_FAIL state.
It is an instant dump of specific parts of the primary memory, and is primarily intended for
expert ABB service personnel.
46 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.4.1. Using the boot application
Boot application
The boot application is primarily used to start up the system when no RobotWare is installed,
but may also be used for other purposes, such as changing the system to start. You can also
use RobotStudio Online, see Operator's manual - RobotStudio Online.
en0400000894
Installing a system
This procedure may take several minutes.
en0400000902
Selecting system
Restarting controller
3HAC020738-001 Revision: A 49
3 Instructions, how to correct faults
3.1.4.2. Correctly starting up
General
Starting up the system involve a lot of common procedures regardless of to which state the
system is being started:
• Make sure no personnel or obstacles are present within the working range of the robot
or any other piece of moving equipment.
• Switch on the main switch on the Control Module.
• Switch on the main switch on the Drive Module. When starting up multi robot
systems, make sure the main switch on all Drive Modules are switched on.
• To enable starting any program execution, the Motors ON button must be pressed.
• If required, start the program execution by pressing one of the buttons Start, Step
FORWARD or Step BACKWARD on the FlexPendant as shown below.
The illustration below shows the different FlexPendant Start buttons:
en0300000587
E START button. Starts program execution. In systems without hold-to-run buttons, the
Start button is also used for the hold-to-run function.
F Step BACKWARD button. Steps the program one instruction backwards. In systems
without hold-to-run buttons, the Backward button is also used for the hold-to-run
function.
G Step FORWARD button. Steps the program one instruction forwards. In systems
without hold-to-run buttons, the Forward button is also used for the hold-to-run
function.
The main switches on Control and Drive Modules are shown in section Correctly shutting
down on page 51
First start
The first time a system is started up after delivery from ABB, the procedure detailed in the
document Getting Started with IRC5 and RobotStudioOnline should be followed.
If problems are encountered during this procedure, please refer to section Start-up failures on
page 16
General
ABB has designed the system to reduce the sensitivity to not shutting it down correctly, and
a number of functions have been built into the system for this purpose.
However, ABB strongly recommends you to follow the guidelines specified below in order
to avoid injury to personnel, damage to equipment or creating situations which may take
unnecessary time and effort to resolve.
Shutting down the system involve a number of common actions:
• If possible, make sure the robot is positioned in such a way that stopping it will not
cause any problems.
• Stop the program execution by pressing the button Stop on the FlexPendant as shown
below.
• Switch off the main switch on the Control Module.
• Physically switching off the Drive Module is rarely required, but if it is, switch off the
main switch on the Drive Module. When shutting down multi robot systems, make
sure the main switch on all Drive Modules are switched off.
Specific considerations for specific situations are specified in the following sections.
The illustration below shows the FlexPendant Stop button:
en0300000587
xx0400000978
en0400001017
3HAC020738-001 Revision: A 53
3 Instructions, how to correct faults
3.1.5. Connecting a FlexPendant
xx0400000729
Connecting a FlexPendant
xx0400000931
• O: FlexPendant connector
(A22.X1)
2. Plug in the FlexPendant cable
connector.
3. Screw the connector lock ring firmly
by turning it clockwise.
54 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.6. Scrolling and zooming on the FlexPendant
Overview
The entire contents of a screen may not be visible at the same time. To see the entire contents,
you may:
• Scroll up/down (and sometimes left/right)
• Zoom in or out (only available in the Program editor)
en0400000685
3HAC020738-001 Revision: A 55
3 Instructions, how to correct faults
3.1.7. Safely disconnecting electrical Drive Module connectors
Description
Due to high power electrical currents, some connectors on the Drive Module may be damaged
if disconnected while the power is switched on. These are specified below:
xx0400001016
A Connector XP0: incoming mains power. Make sure the Drive Module main switch is
switched off before disconnecting.
B ConnectorXS25: mains power from Drive Module to Control Module. Make sure the
Control Module main switch is switched off before disconnecting.
C Connector XS1: motor currents to robot. Make sure the Drive Module main switch is
switched off before disconnecting.
D Connector XS7: motor currents to external axes (if used): make sure the Drive Module
main switch is switched off before disconnecting.
E-H Additional connectors by users. If used for motor current connectors, make sure the
motor at hand is not running before disconnecting.
K-J Serial measurement signal connectors. Will not be damaged if disconnected during
operation.
56 3HAC020738-001 Revision: A
3 Instructions, how to correct faults
3.1.8. Safe handling of USB memory
Description
IRC5 is equipped with a USB port on the Control Module, shown in the Operating Manual,
IRC5 or Product Manual, IRC5.
A USB memory is normally detected by the system and ready to use within a few seconds
from plugging in the hardware. A plugged in USB memory is automatically detected during
system start up.
It is possible to plug in and unplug a USB memory while the system is running. However,
observing the following precautions will avoid problems:
• Do not unplug a USB memory immediately after plugging in. Wait at least five
seconds, or until the memory has been detected by the system.
• Do not unplug a USB memory during file operations, such as saving or copying files.
Many USB memories indicates ongoing operations with a flashing LED.
• Do not unplug a USB memory while the system is shutting down. Wait until shutdown
is completed.
Please note the following limitations with USB memories:
• There is no guarantee that all USB memories are supported.
• Some USB memories have a write protection switch. The system is not able to detect
if a file operation failed due to the write protection switch.
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3 Instructions, how to correct faults
3.1.9. Reflashing firmware and FlexPendant
Overview of reflashing
After replacing hardware units, such as axis computer, buses, etc., or installing newer
versions of RobotWare, the system will automatically attempt reflashing the unit in order to
maintain hardware/software compatibility.
Reflashing is loading appropriate firmware (hardware specific software) onto a specific unit
running this software during operation.
If RobotWare is upgraded on the controller, then the FlexPendant will reflash, i.e. update to
the new version, when connected.
Note that performing any such replacements/updates might require running firmware
versions not available! To avoid jeopardizing the function of the system, ABB recommends
using the same versions as earlier, unless these are unavailable.
The units currently using the reflash function are:
• Contactor interface board
• Drive units
• FlexPendant
• Profibus master
• Axis computer
• Panel board
Reflashing process
The automatic reflashing process, described below, must not be disturbed by switching off the
controller while running:
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3 Instructions, how to correct faults
3.1.10. Updating revolution counters
Overview
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using the FlexPendant. Detailed information about
revolution counters and how to update them, with calibration positions and scales, can be
found in the respective robot's product manual. Also, see the manuals Instructions for
Levelmeter Calibration and Calibration Pendulum Instruction for information on calibration.
For robots using the Absolute Accuracy option, the calibration data file absacc.cfg must be
loaded first.
Step Action
1. On the ABB menu, tap Calibration.
All mechanical units connected to the system are shown along with their
calibration status.
2. Tap the mechanical unit in question.
A screen is displayed: tap Rev. Counters.
en0400000771
Step Action
4. Select the axis to have its revolution counter updated by:
• Ticking in the box to the left
• Tapping Select all to update all axes.
Then tap Update.
5. A dialog box is displayed, warning that the updating operation cannot be undone:
• Tap Update to proceed with updating the revolution counters.
• Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick
from the list of axes.
6.
Caution!
If a revolution counter is incorrectly updated, it will cause incorrect robot
positioning, which in turn may cause damage or injury!
Check the calibration position very carefully after each update.
See section Checking the calibration position in either of the manuals: Instructions
for Levelmeter Calibration or Calibration Pendulum Instruction, depending on
which calibration method to be used. The Product manual for the robot also
contains more information about calibration.
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3 Instructions, how to correct faults
3.2.1. Trouble Shooting the FlexPendant
General
The FlexPendant communicates, through the Panel Board, with the Control Module main
computer. The FlexPendant is physically connected to the Panel Board through a cable in
which the +24 V supply and two Enabling Device chains run.
Procedure
The procedure below details what to do if the FlexPendant does not work correctly.
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3 Instructions, how to correct faults
3.2.2. Trouble Shooting Power Supplies
Overview
This section details how to trouble shoot electrical power supplies in the Control and Drive
Modules.
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3.2.3. Trouble Shooting Communications
Overview
This section details how to trouble shoot data communication in the Control and Drive
Modules.
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3 Instructions, how to correct faults
3.2.4. Trouble Shooting I/O units
Checking function
The procedure detailed below is to be used when a certain I/O unit does not communicate
through it's in- and outputs as expected.
LED indications
All LEDs, and their significance, are described in section Indications.
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3 Instructions, how to correct faults
3.3.1. Intermittent errors
Description
During operation, errors and malfunctions may occur, in a seemingly random way.
Consequences
Operation is interrupted, and occasionally, event log messages are displayed, that sometimes
do not seem to be related to any actual system malfunction. This sort of problem sometimes
affects the Emergency stop or Enable chains respectively, and may at times be very hard to
pinpoint.
Probable causes
Such errors may occur anywhere in the robot system and may be due to:
• external interference
• internal interference
• loose connections or dry joints, e.g. incorrectly connected cable screen connections.
• thermal phenomena , e.g. major temperature changes within the workshop area.
Recommended actions
In order to remedy the symptom, the following actions are recommended (the actions are
listed in order of probability):
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3 Instructions, how to correct faults
3.4.1. Handling of logs
Overview
This section details how to handle logs, which means:
• opening logs and viewing their contents
• saving logs
• deleting logs
Opening a log
This section details how to open a log and access its contents:
Save a log
This section details how to save a log and it's contents:
Delete a log
This section details how to delete a log and it's contents:
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3 Instructions, how to correct faults
3.4.2. What is an event log?
Overview
Robot systems are often operated without any personnel present. The logging function is a
way to store information about past events for future reference in order to facilitate trouble
shooting.
References:
• How to read RAPID event log messages on page 71
• Definition of recommended actions for RAPID run time errors on page 75
• Definition of RAPID run time error statuses on page 73
Concepts
This section defines a number of concepts used when discussing logs, entries and their use.
What is an event?
An event is a specific occurrance which generates an item in the log. For instance, if the
manipulator collides with an obstacle, this will cause a message to be sent to the log. A
message of the occurrance is displayed along with a time marker, etc.
xx0300000448
en0300000454
A Event number. All error events are listed in accordance with this number.
B Event title. This very briefly states what has happened.
C Event time marker specifies exactly when the event occurred.
D Description: A brief description of the event causing the message to be displayed.
Intended to assist in understanding the causes and implications of the event.
E Consequences: A brief description of any consequences inflicted on the system,
transition to other operation mode, emergency stop, caused by the particular event
causing the message to be displayed. Intended to assist in understanding the causes
and implications of the event.
F Probable causes: A list of probable causes, listed in order of probability.
G Recommended actions: A list of the recommended correcting actions, based on the
"Probable causes" specified above. These may range from "Replace the xx..." to" Run
test program xx...", i.e. may be actions to isolate the problem as well as correcting it.
H Acknowledge or OK button
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3.4.3. How to read RAPID event log messages
Overview
Many of the error event log messages exclusive to RAPID errors are written in a specific form
to simplify understanding the messages.
References:
• What is an event log? on page 69
• Definition of RAPID run time error statuses on page 73
• RAPID standard procedures
en0500001456
en0400001021
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3 Instructions, how to correct faults
3.4.4. Definition of RAPID run time error statuses
General
Run time errors are errors that occur when executing the program, it's modules and routines.
These errors may be due to the program being written incorrectly, conditions provided by
external equipment not being met, or a number of other reasons. To pinpoint the exact reason
for each fault is practically impossible.
Since these errors are most often encountered during program testing and debugging, they are
usually found by experienced programmers are will be solved directly before running the
working cell in production.
References:
• What is an event log? on page 69
• Definition of recommended actions for RAPID run time errors on page 75
• How to read RAPID event log messages on page 71
The text in the "Consequences" field of an RAPID run time event log text often contains some
reference to a particular error status.
Run time errors have one of five possible consequences:
• Warning
• Error
• SYS_STOP_RAPID_BLOCK
• SYS_HALT
• SYS_FAIL
Information message
An information message is an entry in the log corresponding to normal system events such as:
• starting and stopping programs.
• change in operational mode.
• changing state between motors ON and OFF.
Warning
A warning is an event that you need to be aware of, but it's consequence is not considered
severe enough to stop program execution.
Some warnings require the operator to acknowledge the event.
It may also mean that program execution may be stopped due to the event, not at this specific
time, but later, or if some other condition is met, etc. In such case, the same event occurs, but
this time as an "error" as specified below.
Usually, the program execution does not stop, and in such cases no immediate action is
required by the operator.
Error
An error is an event that prevents the robot system from proceeding. Usually, the program
execution stops.
All errors must be acknowledged. Most errors also require some immediate action from
personnel to be solved.
SYS STOP
SYS STOP is:
• All NORMAL tasks will be stopped. The parameter NORMAL is described in the
Technical reference manual - System parameters.
• The robot motion stops gently.
• Jogging is possible.
• Program start is possible in one of the ways specified in section Definition of
recommended actions for RAPID run time errors on page 75
SYS HALT
SYS HALT is:
• All NORMAL tasks will be stopped. The parameter NORMAL is described in the
Technical reference manual - System parameters.
• The system goes to Guard Stop.
• The robot motion stops abruptly, since the holding brakes are applied.
• Jogging is possible.
• Program start is possible in one of the ways specified in section Definition of
recommended actions for RAPID run time errors on page 75
SYS FAIL
SYS FAIL is:
• All NORMAL tasks will be stopped. The parameter NORMAL is described in the
Technical reference manual - System parameters.
• The system goes to System Failure State.
• The robot motion stops abruptly, since the holding brakes are applied.
• Jogging is not possible.
• Program start is not possible.
• Performing a system restart resets the system. How to perform a system restart is
detailed in section Restart in the Operator's manual - IRC5 with FlexPendant.
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3 Instructions, how to correct faults
3.4.5. Definition of recommended actions for RAPID run time errors
General
The text in the "Recommended actions" field of an RAPID run time event log text often
contains some reference to a particular action recommended to solve the problem.
Due to the lack of space on the FlexPendant display, the most common actions are described
below.
References:
• How to read RAPID event log messages on page 71
• What is an event log? on page 69
• Definition of RAPID run time error statuses on page 73
Run time errors may usually be remedied by performing one of a few standardized actions:
• Edit program
• Restart from the current position
• Restart after moving the program pointer arbitrarily within the program list
• Restart after moving the program pointer to Main
Edit program
Edit the program to find the cause of the problem by making sure:
• all parameter values affecting the instruction are OK
• all options used by the system have been configured correctly. Also make sure any
options not used have been configured.
Restart after moving the program pointer arbitrarily within the program list
Restart program execution after moving the program pointer (PP) manually to any position
within the program list. This provides an opportunity to step past the offending instruction
and test the remaining program.
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3 Instructions, how to correct faults
3.4.6. Event log file format
File structure
Logs are saved as plain ASCII text files. The following illustration shows an example of an
event log file.
How to save a log file using the FlexPendant is detailed in section Handling of logs on page
67
D E F G
en0300000478
File elements
Item Name
A TBD
B The date and time when saved
C Identity of robot system and installed options
D Event code
E Event title
F The date and time of occurence
G The event message
H The name of next category
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3 Instructions, how to correct faults
3.5.1. Editing parameters
Overview
When editing parameters you use the Instance Editor, which is opened from the Configuration
Editor.
You can either edit the parameters of one single instance, or you can edit several instances at
one time. Editing several instances at one time is useful when you want to change the same
parameter in several instances, like when moving signals from one I/O unit to another.
This section only describes how to set the parameters. For information about what to set the
parameters to for achieving certain results, see the Technical reference manual - System
parameters for the RobotWare version of your system.
Prerequisites
You must have Write access to the controller. See About access rights for details.
Edit parameters
To edit the parameters of one or several instances:
1. In the Robot View Explorer, expand the Controller and the Configuration node and
double-click the topic that contains the parameters to edit.
This opens the Configuration Editor.
2. In the Type name list of the Configuration Editor, select the type that the parameter to edit
belongs to.
The instances of the type is now displayed in the Instance list of the Configuration Editor.
3. In the Instance list, select the instances to edit and press the Enter Key. To select several
instances at once, hold down the SHIFT or CTRL key while selecting.
The Instance Editor is now displayed.
4. In the Parameter list of the Instance Editor, select the parameter to edit and change the
value of the parameter in the Value box.
When editing several instances at one time, the parameter values you specify will be
applied to all instances. For parameters that you do not specify any new value, each
instance will keep its existing value for that parameter.
5. Click OK to apply the changes to the configuration database of the controller.
For many parameters, the changes will not take affect until the controller is restarted. If
your changes require a restart, you will be notified of this.
Result
You have now updated the controller's system parameters. If the changes require a restart of
the controller, the changes will not take affect until you do this. If you are going to make
several changes, you can wait with the restart until all changes are done.
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4 Descriptions and background information
4.1.1. Screw joints
General
This section details how to tighten the various types of screw joints on the controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,
flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
The table below specify the recommended standard tightening torque for oil-lubricated
screws with slotted or cross-recess head screws.
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4 Descriptions and background information
4.1.2. Document references
General
This section specifies all necessary documentation required for service, repair and installation
of the industrial robot.
If supplemental documentation is required for certain procedures in a manual, this is listed as
required equipment in the instruction.
The tables below specify the available controller documentation.
The first digits of the article numbers are the same for a document in every language. The
exception is made in the last digit, represented with an "x" in the tables. Select last digit "x"
according to the listing below, depending on desired language:
• English, x = 1
• Swedish, x = 2
• German, x = 3
• French, x = 4
• Spanish, x = 5
• Portuguese, x = 6
• Italian, x = 7
• Danish, x = 8
• Dutch, x = 9
References
Reference Document ID
Product manual, procedures - IRC5 3HAC021313-001
Product manual, reference information - IRC5 3HAC021313-001
Operator's manual - IRC5 with FlexPendant 3HAC16590-1
Getting started - IRC5 and RobotStudioOnline 3HAC021564-001
Trouble shooting manual - IRC5 3HAC020738-001
Technical reference manual - System parameters 3HAC17076-1
Application Manual - MultiMove 3HAC021272-001
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4 Descriptions and background information
4.1.3. Standard toolkit, trouble shooting
General
Listed are tools required to perform the actual trouble shooting work. All tools required to
perform any corrective measure, such as replacing parts, are listed in their Product Manual
section respectively.
Tool Remark
Screw driver, Torx Tx10
Screw driver, Torx Tx25
Ball tipped screw driver, Torx Tx25
Screw driver, flat blade 4 mm
Screw driver, flat blade 8 mm
Screw driver, flat blade 12 mm
Screw driver Phillips-1
Box spanner 8 mm
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4 Descriptions and background information
4.2. Servo System
Overview
This section describes the basic flow of energy through the drive system, from the three phase
mains supply to the pulse width modulated drive current to the robot motors.
The basic function of the drive system is:
• The three phase mains supply is connected to the mains switch (to the left in the figure
below)
• filtered in the filter
• transformed in the transformer (if applicable)
• Depending on the state of the system, the Motors ON contactors either connects or
disconnects the power to the rectifier unit. This is detailed in section Motors ON/OFF,
chain and status on page 94.
• The rectifier converts the AC voltage to a DC voltage
• to the DC link, acting as an energy bank by filtering the voltage,
• which is chopped into a pulse width modulated (PWM) pulse train by the drive units
• This variable three phase AC current is connected to the motor on each manipulator
axis, in which it creates a torque, turning the motor rotor.
Function
en0300000502
EMC filter
A low pass filter reduces the amount of harmonics back to the input power.
Main transformer
Not all robot installation require the use of a main transformer.
The transformer converts the shop voltage supply to a voltage level suitable for supplying the
rectifier. It may be connected internally for different mains voltages. Different capacities are
available for different power demands.
In some applications, the shop power supply is suited for supplying the rectifier, and in such
cases, no transformer is required. A smaller electronics supply transformer will still be
required to supply the electronics.
Reactor
Larger robot models use a reactor to reduce the transient load on the contactors during high
power demands.
Motors ON contactors
Two Motors ON contactors are connected in series with each other. In case of any potentially
dangerous malfunctions, the system uses these contactors to disconnect the power from the
drive system.
en0300000545
The contactor interface board communicates on a RS485 line with the axis computer.
Panel Board
The panel board sends control signals to the contactor interface board, and switches the power
supply unit contactor on and off.
It also handles communication with the panel on the front of the controller.
Rectifier
The rectifier converts the transformed AC voltage to a stabilized DC voltage (DC link
voltage). This DC voltage is supplied to the servo drive units.
DC link
The DC link capacitor is a large capacitor to maintain the DC link voltage during various load
situations. The DC link voltage is the rectified voltage supplied to the drive units.
Bleeder resistors
The bleeder resistors are high power resistors connected in parallel with the DC link.
When there is an overvoltage in the DC link (typically caused by one of the axes' motors
braking, acting as a generator feeding electrical energy back to the drive unit), a transistor in
the rectifier connects the voltage through the bleeder resistors. The DC link voltage drops
instantly.
Axis computer
The axis computer is a single circuit board, controlling the movements of the manipulators
axes.
Based on the programmed movement requirements, the main computer sends instructions
with movement requests to the axis computer which in turn sends instructions to the drive
units.
The axis computer communicates:
• on a SPI line with the main servo drive
• on an Ethernet line with the main computer
• on a RS422 line with the serial measurement board (SMB)
• on an RS485 line with the contactor board
Main computer
The main computer communicates on an Ethernet connection with the axis computer
Drive unit
Based on the current requests from the axis computer, the servo drives generate three phase
drive currents to the axes' motors. The technique utilized is called Pulse Width Modulation
(PWM) and this creates a voltage pulse train.
In the drive unit, the control and power electronics are integrated.
Each axis has a drive unit, but for many of the manipulator models, these are assembled into
one package, sometimes referred to as a SixPack.
Motor
The motor is a complete unit housing an AC motor, resolver and brake. The two latter are
described below.
The voltage pulse train from the drive unit is converted to torque when applied to the
inductance in the motors' rotor.
R
The resolver is a analog generator creating a sinusoidal signal, and the voltage value
generated depends on the position of the motor's rotor in relation to the stator.
This signal is used by the system to determine the actual position of the rotor.
B
The brake fitted to each motor is normally used for holding and emergency stop purposes
only. When the Motors OFF signal is active, which results in disconnecting the drive voltage
from the motor, the brake is used to hold the manipulator arm in position.
It is also used during an emergency stop, when instant stopping is required.
Power supply
The Drive Unit power supply is a 24 VDC supply for the Drive Unit.
Power Supplies
The power supplies in the system are described in sections Power supply, Control Module on
page 101 and Power Supply, Drive Module on page 104 respectively. The complete circuits
are also shown in the Circuit Diagram.
How to trouble shoot power supplies is detailed in section Trouble Shooting Power Supplies
on page 63
Communications
Communications within the system is described in section Communication, Control Module
and Drive Module on page 107. The complete circuits are also shown in the Circuit Diagram.
How to trouble shooting communications is detailed in section Trouble Shooting
Communications on page 64
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4 Descriptions and background information
4.3.1. What is a FlexPendant?
Description of FlexPendant
The FlexPendant (occasionally called TPU, or teach pendant unit) is a device for handling
many of the functions involved with operating the robot system; running programs, jogging
the manipulator, producing and editing application programs, etc.
The FlexPendant consists of both hardware, such as buttons and joystick, and software. The
FlexPendant is connected to the controller module through an integrated cable and connector.
NOTE that specific functions may not be performed using the FlexPendant, but only through
RobotStudioOnline . How to perform these are specified in Operator's manual - RobotStudio
Online.
Main parts
These are the main parts on the FlexPendant.
en0300000586
A Connector
B Touch screen
C Emergency stop button
D Enabling device
E Joystick
F Hold-to-run buttons (not included in all systems)
Hardware buttons
There are a number of dedicated hardware buttons on the FlexPendant. Four of them are
programmable and four are pre-programmed.
en0300000587
en0300000588
A ABB menu
B Operator window
C Status bar
D Close button
E Task bar
F Quickset menu
ABB menu
The ABB menu contains programs, configurations, and applications. This is described in
section The ABB menu in Operator's manual - IRC5 with FlexPendant.
Operator window
The Operator window displays messages from the program. This is described in section
Operator window in Operator's manual - IRC5 with FlexPendant.
Status bar
The Status bar displays information about the system and messages. This is described in
section Status bar in Operator's manual - IRC5 with FlexPendant.
Close button
Tapping the close button closes the presently open view or application.
Task bar
The Task bar displays all open views and applications.
Quickset menu
The Quickset menu contains shortcuts to jogging and settings. This is described in section
The Quickset menu in Operator's manual - IRC5 with FlexPendant.
en0400000913
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4 Descriptions and background information
4.3.2. Serial Measurement Board, DSQC 562 and DSQC 633
Description
The Serial Measurement Board (referred to as SMB) is part of the measurement system, and
is generally located in the robot base. When used with additional, external axes, it's location
may differ.
The actual position is shown in the Product Manual of each robot model.
Illustration
The illustration shows the serial measurement board:
X1 X2
SM B 3 -6 S M B 1.7
X3
SM B 1 -4 SMB
xx0400001147
Parts
NOTE: Resolvers 1, 3 and 4 are connected to different connectors depending on the robot
model.
Facts
This section specifies a number of facts applicable to the serial measurement board. Unless
stated otherwise, the data applies to the versions specified above.
This data is used when:
• calibrating axes
• the manipulator should be replaced
• the SMB should be replaced
• the controller should be replaced.
The following data is stored on the SMB:
• calibration data
• serial number for mechanical unit
• SIS data
Function
The SMB primarily gathers resolver data from the robot's (or additional axes) motors. This
data is used to measure the speed and position of each axis. Each SMB is capable of measure
up to 7axes.
It also stores a number of data pertaining to each robot.
The SMB communicates with the axis computer through a standard RS422 link. All
communication in the system is schematically shown in section Communication, Control
Module and Drive Module on page 107
Power is supplied by the Drive Module Power Supply Unit. All power supplies are
schematically shown in section Power Supply, Drive Module on page 104
Data on Data in
How to proceed:
SMB: controller:
Data missing Data missing An event log text is displayed on the FlexPendant, and
new data must be loaded.
Data OK Data missing An event log text is displayed on the FlexPendant, and
data must be transferred to the controller.
Data missing Data OK An event log text is displayed on the FlexPendant, and
data must be transferred to the SMB.
Data OK (robot Data OK (robot Same robot serial numbers. No action required. Proceed.
serial # X) serial # X)
Data OK (robot Data OK (robot Different robot serial numbers. An event log text is
serial # X) serial # Y) displayed on the FlexPendant, and you must select if data
from the SMB is to be transferred to the controller or vice
versa. The new data will overwrite the "old data".
Available handling options are (as detailed in section Serial measurement board in the
Operator's Manual, IRC5 with FlexPendant):
• SMB robot parameters may be loaded from the robot SMB into the controller memory.
• If the robot is replaced by another robot of the same type, the parameters in the
controller may be read into the SMB.
• The SMB memory may be erased.
• The manipulator specific parameters in the controller parameter memory may be
erased.
• If the data in the SMB and the controller memory differ, it is possible to select the
desired data.
• The robot history, as specified in the SIS data, may be updated and read (in future
versions).
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4 Descriptions and background information
4.4.1.1. Motors ON/OFF, chain and status
General
The Motors ON chain is actually two circuits, identical in their contents, ultimately
controlling the power supply to the manipulator's motors.
If any of the chains are opened, the power is disconnected and the system goes to the Motors
OFF mode, i.e. the drive power is disconnected from the motors.
en0300000521
The fundamental function of the circuit is to supply the motors with drive power. In order to
achieve this, a number of conditions must be met:
• NO emergency stop condition must be active. The Emergency stop circuits are
detailed in section Emergency stop circuit on page 97
• NO safeguarded stops must be active. The safeguarded stop circuits are detailed in
section Safeguarded stops on page 97.
• When running in the Manual Reduced/Full Speed modes, the enabling device on the
FlexPendant must be pressed. The FlexPendant is described in section What is a
FlexPendant? on page 87
• The other Motors ON chain must be OK, i.e. NONE of the fault conditions specified
in this section must be present in the other parallel Motors ON circuit.
• The signals RUN, ENABLE1 and ENABLE2 must be active. These signals are issued
by the main computer and are detailed in section .
• NO limit switches on any of the manipulator's axes must be activated, i.e. all
manipulator axes must be within it's normal operating range.
When all these conditions are met, both Motors ON contactors are activated, and the power
is supplied to the drive system.
Interlocking
The dual Motors ON chains supervise each other.
This way, any unbalance in the two chains is instantly detected, causing the chain to be broken
and the Motors ON contactor to fall.
It is not possible to go back to Motors ON mode without correcting the original fault.
In AUTO mode
Return the robot to Motors ON mode by pressing the Motors ON button on the operator's
panel. If the circuit is OK, the computer closes the circuit to activate the contactor.
When switching to MANUAL from AUTO, the mode changes to Motors OFF and the
computer system opens the circuit.
In MANUAL mode
Start operation in any of the MANUAL modes by pressing the enabling device on the
FlexPendant. If the circuit is OK, the computer closes the circuit.
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4 Descriptions and background information
4.4.1.2. Breaking the Motors ON chain
Sequence
The Motors ON/OFF circuit and specifications of the conditions required to activate it, are
described in section Motors ON/OFF, chain and status on page 94
When any of the conditions specified are not met, the chain is broken as described below:
xx0500001569
A Connector X23 on the contactor interface board: connect the limit switch override switch
first pole between pins 1-2 and the second between pins 3-4.
Keeping this override switch closed, the robot may be run manually using the joystick while
pressing the Motors ON button on the FlexPendant.
96 3HAC020738-001 Revision: A
4 Descriptions and background information
4.4.1.3. Emergency stop circuit
General
The emergency stop circuit is intended to cut the power to the system's drive motors if a
potentially dangerous situation should arise.
Opening any of the switches connected in series will break the chain, thus opening the Motors
ON 1 and 2 contactors.
How the emergency stop circuit relates to the Motors ON/OFF circuit is shown in the figure
in section Motors ON/OFF, chain and status on page 94
The circuit
The illustration shows the principle of the emergency stop chain.
en0300000522
The controller Circuit Diagram in the Product Manual, IRC5, contains detailed information
on how to connect the emergency stop buttons.
General
Safeguarded stops are intended to cut the power to the system's drive motors if a potentially
dangerous situation should arise, e.g. if a person would enter the manipulator working range
during manual or programmed movement.
This is achieved by connecting external safety devices, such as light curtains, light beams or
pressure sensitive mats.
Three stop types are available: General mode safeguarded stop (GS), Automatic mode
safeguarded stop (AS) and Superior safeguarded stop (SS).
How the safeguarded stop circuit relates to the Motors ON/OFF circuit is shown in the figure
in section Motors ON/OFF, chain and status on page 94
Categories
There are two categories of safety stops; category 0 and category 1 (ISO/DIS 11161 Industrial
automation systems - safety of integrated manufacturing systems - Basic requirements).
Definitions:
• Category 0: Use when the motor power must be disconnected immediately, such as
when a light curtain, used to protect against entry into the work cell, is passed. The
manipulator motion is likely to be stopped outside the programmed path, which may
require special restart routines.
• Category 1: Use when the motor power must not be disconnected immediately, such
as when gates are used to protect against entry into the work cell. The manipulator
motion is stopped within the programmed path, which makes restarting easier.
Perform a safety analysis for each potential danger to determine which category to be used.
By default, the safety stops are of category 0. Changing the stop category is done by setting
a parameter.
The circuit
The illustration shows principle of the safeguarded stop chain.
en0300000523
*) The chains are bypassed on delivery, i.e. nothing is connected except a jumper. Any
number of switches may be connected in series.
The controller Circuit Diagram in the Product Manual, IRC5 contains detailed information
on how to connect the safeguarded stops.
General
The limit switches are moveable, electro-mechanical switches fitted at the end of a
manipulator's axis' working range. They are available for axis 3 for IRB 2400 and IRB 4400
only.
This way, the switches can be used to block parts of the manipulators potential working range
for safety or other reasons.
Usually, the robot program contains a software limit set within the manipulator working
range, so that the electro-mechanical limit switch is never hit during normal operation.
However, should a limit switch be hit, it must be due to some malfunction, and the Motors
ON chain is deactivated, and the robot operation is stopped.
The circuit
The illustration shows principle of the limit switch circuit.
en0300000524
The controller Circuit Diagram in the Product Manual, IRC5 contains detailed information
on how to connect the limit switches.
How the limit switch circuit relates to the Motors ON/OFF circuit is shown in the figure in
section Motors ON/OFF, chain and status on page 94
Overview
This section describes how the IRC5 Control Module is supplied with electrical power.
Supplies
The illustration below schematically depicts the main electrical power supply routes. The full
IRC5 Circuit Diagram is shown in the Product Manual, IRC5.
en0400001051
Panel Board The Panel Board is supplied with ± 24VDC by the G2 unit.
(A21)
Main computer The Main Computer Unit is supplied with ± 24 VDC by the G2 unit. The unit
unit (A3) also has internal DC/DC converters for supply to logic circuits, etc.
Ext. computer Cooling fan fitted on the rear of the module. It is powered by 24VCOOL
fan (E2) from the G2 unit through the Panel Board.
Door fan (E3) Option: Cooling fan fitted on the inside of the module's door. It is powered
by 24VCOOL from the G2 unit through the Panel Board.
Chassis fan Cooling fan fitted inside the Computer Unit. It is powered by the G31 power
(E22) supply unit on the Main Computer Board.
Chassis fan Cooling fan fitted inside the Computer Unit. It is powered by the G31 power
(E23) supply unit on the Main Computer Board.
Earth fault Option: A service outlet earth fault protection protects the 115V/230 VAC
protection (F4) service outlet from potentially dangerous earth currents.
Circuit breaker Option: A circuit breaker protects the Service outlet from overcurrents (2
(F5) A).
Control Moduel The Control Module Power Supply is the main AC/DC converter (DSQC
Power Supply 604) converting 230 VAC to ±24 VDC for a number of units.
(G2)
Backup Energy The Backup energy bank (capacitor) is used suppling power to the Main
Bank (G3) Computer Unit. In case of power failure, the unit ensures that a full backup
may be taken of the memory contents at the time of the failure. The G3 unit
is supplied by the G2 unit.
Customer Power The Customer Power Supplies are optional power supply units (DSQC
Supply (G4, G5) 608) for supplying Customer Connections.
DeviceNet Option: The DeviceNet Power Supply is an optional power supply (DSQC
Power Supply 608) for supplying the DeviceNet units.
(G6)
DNbus Option: The DeviceNet bus board is supplied by the G6 unit.
Q2 The main switch on the front of the Control Module.
Operator's Panel The panel board is supplied by the G2 unit and supplies the Operator's
(S1) Panel and FlexPendant.
Transformer (T3) Option: A 230/230 VAC transformer for supplying the Service outlet.
X20 A connector connecting the 230 VAC from the main transformer in the
Drive Module to the Control Module.
Service Outlet Option: A 230 VAC service outlet for supply to external service equipment
(X22) such as laptop computers, etc.
Locations
The illustration below shows the physical location of the power supplies in the Control
Module.
xx0400001059
Voltages
Below is a list of the 24V voltages generated in the Control Module, and the power supply
unit generating it.
Overview
This section describes how the IRC5 Drive Module is supplied with electrical power.
Supplies
The illustration below schematically depicts the main electrical power supply routes. The full
Circuit Diagram of the IRC5 controller is shown in the Product Manual, IRC5.
en0400001052
Main Servo Drive Drive unit providing the drive power to the robot's motors. It also powers
Unit (A41.1) the fan unit. The low voltage electronics in the drive unit are powered by
the Drive Module Power Supply.
Rectifier (A41.2) The drive equipment rectifier providing a DC voltage to the drive units.
Axis Computer The Axis Computer Unit has internal DC/DC converters for supply to
Unit (A42) logic circuits, etc.
Contactor interface The contactor interface board controls a number of contactors in the
board (A43) system, e.g. both RUN contactors.
Fan Unit (E1) Cooling fans on the rear of the Drive Module.It is powered by the drive
unit.
Circuit breaker A circuit breaker (25 A) protecting the drive equipment from
(F1) overcurrents. Location shown in section Fuses on page 109
Circuit breaker A circuit breaker (10 A) protecting the electronics power supply.
(F2) Location shown in section Fuses on page 109
Drive Module The Drive Module Power Supply (DSQC 626 for smaller robots and
Power Supply (G1) DSQC 627 for IRB 340, IRB 6600 and IRB 7600) in the Drive Module,
converting the 230 VAC to 24 VDC.
Contactor (K41) A contactor, controlled by the Control Module Panel Board, supplying
the electronics power supply.
RUN contactor The first RUN contactor, controlled by the Contactor Board, supplying
(K42) the drive equipment with power.
RUN contactor The second RUN contactor, controlled by the Contactor Board,
(K43) supplying the drive equipment with power.
Main switch (Q1) The main switch on the front of the Drive Module.
Transformer (T1 or T1: The main transformer, converting the mains supply (200-600 VAC)
T2) to either 3 x 262 VAC (for smaller robots), 3 x 400 VAC (IRB6600) or 3
x 480 VAC (IRB 7600). T2 is used by direct power supply robots such as
IRB6600 (400-480 V) and IRB7600 (480 V) to supply 230 VAC to the
various power supply units.
X0 The main connector on the connector panel of the Drive Module.
Location not shown; behind cover.
X25 Connector for supplying two phase power to the Control Module.
Location not shown; behind cover.
Z1 Option: EMC filter
Locations
The illustration below shows the physical location of the power supplies in the Drive Module.
A41.1.4 A41.1.3
A41.1 A41.2
K43
Z1 A41.3
K44
K42 G1
Q1
H1
A43
F1
K41
F2
XP0
XS25
XS41
A42
XS1
XS2
XS7
xx0400001060
Voltages
Below is a list of the 24 V voltages generated in the Drive Module and the power supply unit
generating it:
Overview
The illustration below schematically depicts the main communication routes. The full IRC5
Circuit Diagram of is shown in the Product Manual, IRC5.
Communications
This section describes the data communication within and between the IRC5 Control Module
and Drive Module.
en0400001063
Service port Connector (A7) on the module front for connecting a PC for
service purposes, e.g. when installing software etc. Ethernet
communication.
FlexPendant Connector (A9) on the module front for connecting the
FlexPendant. Ethernet communication and safety signals.
USB One standard USB port (USB1) on the Control Module front for
connecting peripheral equipment and e.g. bulk memory.
LAN Local Area Network: connector (LAN1) for communication with
other units.
Continues on next page
3HAC020738-001 Revision: A 107
4 Descriptions and background information
4.4.4. Communication, Control Module and Drive Module
Continued
4.4.5. Fuses
General
The electrical power supply to the IRC5 system is protected by a number of automatic fuses
as specified below.
Main fuse, F2
The supply to the Drive Module Power Supply and the Axis Computer is protected by an
automatic fuse, 10A.
It is connected as shown in section Schematical, drive module on page 111and it's physical
location is shown in section Location, drive module on page 111.
Fuse (F5) and earth fault protection (F4) to the service outlet connector
The service outlet (115 - 230 VAC) on the Control Module is protected by a fuse, 2 A in
European applications and 4 A in US applications, and an earth fault protection unit.
It is connected as shown in section Schematical, control module on page 110and it's physical
location is shown in section Location, control module on page 110.
How to trouble shoot this is detailed in section No voltage in service outlet on page 24
en0400001051
xx0500001556
en0400001052
xx0500001555
General
In the controller's basic and standard form, certain I/O signals are dedicated to specific safety
functions. These are listed below with a brief description of each.
All signals can be viewed in the I/O menu on the FlexPendant.
General
Not all software is compatible with all hardware or other software within the IRC5 system.
For instance, newer versions of a specific circuit board may require the driver software to be
updated.
This section does not claim to specify all compatible combinations, but only the most
common.
If you experience compatibility problems not addressed by this instruction, please contact
your local ABB dealer.
RobotWare 5.00
The table below lists the known allowed combinations when running RobotWare version
5.00:
RobotWare 5.01
The table below lists the known allowed combinations when running RobotWare version
5.01:
Overview
When using the term "memory", a number of things may be implied:
• The main computer RAM memory
• The system hard disk drive or flash disk drive
• The hard disk of some other unit connected to the same LAN as the robot system,
serving as a storage for software.
LAN unit
This may be used as extra mass storage device if the one in the controlled is not sufficient. It
is not normally considered a part of the robot system
General
This section describes what the main computer RAM memory contains during normal
operation.
The term "RAM memory" means the main computer primary memory, i.e. the memory
modules with which the main computer processor works during normal operation.
The generic term "memory" is described in section What is "the memory"? on page 116
en0500001446
Parts
Part Function
RAM memory The main computer memory modules, located on the computer
motherboard. The processor reads and writes to this memory during
program execution.
The size of the RAM memory may vary, but increasing the size will not
improve computer performance unless a number of hard- and software
changes are made to the robot system.
image.bin When the system is powered OFF, intentionally or due to power failure, the
image.bin file is saved to the controller hard/flash disk.
It is an internal file, created by the system during operation, usually invisible
to the user.
When performing a "warm start" of the system, the complete image.bin file
is reloaded into the RAM memory. Other types of restarts may start with
another system, etc, which is described in the Operator's manual - IRC5 with
FlexPendant.
ctrl.bin This file contains, among other things:
• robot identity data
• calibration data
• SIS data
• duty timer data
The file is stored on the SMB board on robot delivery. Data may then be
transferred to the controller as detailed in the Operator's manual - IRC5 with
FlexPendant.
NOTE that the ctrl.bin file is not stored in the system specific file on the hard/
flash disk drive. This means that all data in the file will be retained even if the
system software is updated or in any other way replaced.
SMB board The SMB board (serial measurement board) is normally fitted on the
mechanical unit, and contains among other things, data from the ctrl.bin file.
How to handle the data on the SMB board, moving data between SMB and
controller, etc is detailed in the Operator's manual - IRC5 with FlexPendant.
Controller The main mass storage unit of the control module, located in the Computer
hard/flash disk Unit. Depending on controller version, it may be a hard disk drive or a flash
disk drive and may vary in size.
It contains all necessary software for operating the robot, and is the unit on
which the RobotWare is installed.
When starting up, data is loaded into the RAM memory from the disk drive.
When powering down, the image.bin file is automatically saved here.
RAPID code This section contains all executable RAPID code, whether written by ABB or
the customer.
Configuration This data is basically the contents of the configuration files:
data • proc.cfg
• moc.cfg
• sio.cfg
• mmc.cfg
• sys.cfg
Each file contains the settings made when creating and defining the system,
options etc.
The configuration files may not be changed after creation, but their contents
may be checked as detailed in the Trouble Shooting Manual - IRC5. When
changing the contents of the configuration files, ABB strongly recommends
using the tool RobotStudioOnline to reduce the risk of introducing errors.
Continues on next page
118 3HAC020738-001 Revision: A
4 Descriptions and background information
4.4.9. The structure of the main computer RAM memory contents
Continued
Part Function
Texts Some of the texts used by the system during operation, in all languages
selected when creating the system.
Event logs All events logged in all event logs.
This means that the logs will be saved even if a power failure occurs, which
in turn, simplifies finding the fault causing the power failure.
Internal states This is data recording the state and position of all robot axes, all I/O, the
state of each manipulator connected to a Multimove system, etc.
This data is constantly updated during operation. This enables the system
to instantly return to it's previous state if the system for any reason stops,
there is a power failure or the robot collides with an obstacle etc.
Calibration This is calibration data for one robot, i.e. all data describing the calibration
data position for all six axes of one robot.
SIS This is service data related to the SIS system (Service Interval System).
This means that SIS data will be kept by the robot even if it's controller is
replaced.
Duty timer This is the Duty timer data.
This means that duty timer count will be kept by the robot even if it's
controller is replaced.
"My system" This is the directory in which the RobotWare is stored after installation. The
image file is stored in the directory "Internal".
NOTE that the ctrl.bin file is not stored here, which means that the contents
of the image.bin file will be retained even if updating the system software
during operation.
en0300000576
Parts
Part Function
Task Each task usually contains a RAPID program and system modules aimed
at performing a certain function, e.g. spot welding or manipulator
movements.
A RAPID application may contain one task. If you have the Multitasking
option installed, then there can be more than one task.
Read more about Multitasking in Application manual - Engineering tools.
Task property The task property parameters set certain properties for all task contents.
parameter Any program stored in a certain task, assumes the properties set for that
task.
The task property parameters are specified in RAPID reference manual.
Program Each program usually contains program modules with RAPID code for
different purposes.
Any program must have an entry routine defined to be executable.
Part Function
Program Each program module contains data and routines for a certain purpose.
module The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All program modules will be removed when deleting a program from the
controller program memory.
Program modules are usually written by the user.
Data Data are values and definitions set in program or system modules. The
data are referenced by the instructions in the same module or in a number
of modules (availability depending on data type).
Data type definitions are specified in the RAPID reference manual,
Functions and data types.
Routine A routine contains sets of instructions, i.e. defines what the robot system
actually does.
A routine may also contain data required for the instructions.
Entry routine A special type of routine, in English sometimes referred to as "main",
defined as the program execution starting point.
Note
Each program must have an entry routine called "main", or it will not be
executable. How to appoint a routine as entry routine is specified in RAPID
reference manual. The default name for main can be changed by the
system parameter configurations, type Task. See Technical reference
manual - System parameters.
Instruction Each instruction is a request for a certain event to take place, e.g. "Run the
manipulator TCP to a certain position" or "Set a specific digital output".
The instructions, their syntax and function is thoroughly described in the
RAPID reference manual, Instructions.
System module Each system module contains data and routines to perform a certain
function.
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All system modules will be retained when "Delete program" is ordered.
System modules are usually written by the robot manufacturer or line
builder.
4.5 Indications
General
The Controller Module features a number of indication LEDs, which provide important
information for trouble shooting purposes. If no LEDs light up at all when switching the
system on, trouble shoot as detailed in section All LEDs are dead on page 20
All LEDs on the respective units, and their significance, are described in the following
sections.
All units with LEDs are shown in the illustration below:
LEDs
dummy
en0400000918
A Status LED
B Service connector LED
C TPU connector LED
D AXC1 connector LED
E-H These are not LEDs and will not be discussed in this context
Description Significance
Status LED (during The significance of the LEDs are described in the sequence in which
startup) they are lit during a normal startup.
RED flashing: Main computer self test is running.
RED steady: The main computer operating system is loading.
GREEN flashing: A system warm start is running.
GREEN steady: The system warm start has finished.
Status LED (during RED steady: Internal failure. The unit needs to be replaced.
operation) RED flashing: Communication failure. The unit does not need to be
replaced.
GREEN steady: The unit and its function is OK.
Service connector Shows the status of Ethernet communication between the Service
LED connector and the Robot Communication Card.
GREEN OFF:10 Mbps data rate has been selected
GREEN ON:100 Mbps data rate has been selected
YELLOW flashing: The two units are communicating on the Ethernet
channel.
YELLOW steady: A LAN link is established.
YELLOW OFF: A LAN link is not established.
Description Significance
TPU connector LED Shows the status of Ethernet communication between the
FlexPendant and the Robot Communication Card.
See the description above!
AXC1 connector LED Shows the status of Ethernet communication between Axis
Computer 1 and the Robot Communication Card.
See the description above!
Ethernet board
The illustration below shows the LEDs on the Ethernet board:
en0400000919
Description Significance
AXC2 Shows the status of Ethernet communication between Axis Computer 2 and
connector the Ethernet board.
LED GREEN OFF:10 Mbps data rate has been selected.
GREEN ON:100 Mbps data rate has been selected.
YELLOW flashing: The two units are communicating on the Ethernet channel.
YELLOW steady: A LAN link is established.
YELLOW OFF: A LAN link is not established.
AXC3 Shows the status of Ethernet communication between Axis Computer 3 and
connector the Ethernet board
LED See the description above!
AXC4 Shows the status of Ethernet communication between Axis Computer 4 and
connector the Ethernet board
LED See the description above!
dummy
A DCOK indicator
Description Significance
DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.
OFF: When one or more DC output/s below the specified minimum level.
dummy
A DCOK indicator
Description Signficance
DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.
OFF: When one or more DC output/s below the specified minimum level.
Computer unit
The illustration below shows the LEDs on the Computer unit:
C B
A
dummy
A Ethernet LED
B Mass memory indication LED
C Power ON LED
Description Significance
Ethernet LED Shows the status of the communication on the main computer
Ethernet channel.
GREEN OFF:10 Mbps data rate has been selected.
GREEN ON:100 Mbps data rate has been selected.
YELLOW flashing: The two units are communicating on the
Ethernet channel.
YELLOW steady: A LAN link is established.
YELLOW OFF: A LAN link is not established.
Mass memory indication YELLOW: A flashing LED indicates communication between
LED hard drive and processor.
Power ON LED GREEN steady: The computer unit is supplied with power and
working correctly.
GREEN OFF: The unit is not powered.
Panel board
The illustration below shows the LEDs on the Panel board:
dummy
The panel board LEDs are described from top to bottom below:
Description Signficance
Status LED GREEN flashing: serial communication error.
GREEN steady: no errors found and system is running.
RED flashing: system is in power up/selftest mode.
RED steady: other error than serial communication error.
Indication LED, ES1 YELLOW when Emergency stop chain 1 closed
Indication LED, ES2 YELLOW when Emergency stop chain 2 closed
Indication LED, GS1 YELLOW when General stop switch chain 1 closed
Indication LED, GS2 YELLOW when General stop switch chain 2 closed
Indication LED, AS1 YELLOW when Auto stop switch chain 1 closed
Indication LED, AS2 YELLOW when Auto stop switch chain 2 closed
Indication LED, SS1 YELLOW when Superior stop switch chain 1 closed
Indication LED, SS2 YELLOW when Superior stop switch chain 2 closed
Indication LED, EN1 YELLOW when ENABLE1=1 and RS-communication is OK
LED board
The LEDs on the LED board are identical copies of those found on the Panel board as
described above.
Should the LED board not be working, but the Panel board is, the problem is the
communication between these boards. Check the cabling between them.
General
The Drive Module features a number of indication LEDs, which provide important
information for trouble shooting purposes. If no LEDs light up at all when switching the
system on, trouble shoot as detailed in section All LEDs are dead on page 20
All LEDs on the respective units, and their significance, are described in the following
sections.
All units with LEDs are shown in the illustration below:
LEDs
xx0400001084
A Rectifier
B Axis Computer
C Contactor interface board
D Single servo drive
E Drive Module Power Supply
F Main servo drive
Axis computer
The illustration below shows the LEDs on the Axis computer:
xx0300000023
A Status LED
B Ethernet LEDs
Description Signficance
Status LED The significance of the LEDs are described in the sequence the are lit
during a normal startup.
RED steady: power ON. The axis computer is initializing basic hardware
and software
RED flashing: contacting host, attempting to download IP address and
image file to axis computer.
GREEN steady: startup sequence ready. VxWorks is running.
RED flashing: an initialization error has occured. The axis computer will
notify the main computer if possible.
Ethernet LED Shows the status of Ethernet communication between an additional axis
computer (2, 3 or 4) and the Ethernet board.
GREEN OFF:10 Mbps data rate has been selected.
GREEN ON:100 Mbps data rate has been selected.
YELLOW flashing: The two units are communicating on the Ethernet
channel.
YELLOW steady: A LAN link is established.
YELLOW OFF: A LAN link is not established.
xx0400001089
Description Significance
Indication GREEN flashing: Internal function is OK and there is a malfunction in the
LEDs D, E and interface to the unit. The unit does not need to be replaced.
F GREEN steady: Program loaded successfully, unit function OK and all
interfaces to the units is fully functional.
RED steady: Permanent internal fault detected. The LED is to have this
mode in case of failure at internal self test at start-up, or in case of detected
internal failure state in running system. The unit probably needs to be
replaced.
xx0400001090
A DCOK indicator
Description Significance
DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.
OFF: When one or more DC output/s below the specified minimum level.
xx0400001091
A Status LED
Description
Status LED GREEN flashing: serial communication error.
GREEN steady: no errors found and system is running.
RED flashing: system is in power up/selftest mode.
RED steady: other error than serial communication error.
General
All digital and combi I/O units have the same LED indications. The figure below shows a
digital I/O unit, DSQC 328 and is applicable for the following I/O units:
• 120 VAC I/O DSQC 320
• Combi I/O DSQC 327
• Digital I/O DSQC 328
• Relay I/O DSQC 332
xx0100000240
LEDs general
The table shows the IN and OUT LEDs.
MS LED
NS LED
Process
The system performs a test of the MS and NS LEDs during start-up. The purpose of this test
is to check that all LEDs are working properly. The test runs as follows:
Additional LEDs
If a device has other LEDs, each LED is tested in sequence.
General
Interbus communication boards are generally fitted in the Control Module. On the front of the
boards, a number of indication LEDs show the status of the unit and it's communication:
xx0100000225
Illustration
xx0200000288
A LEDs, master
B-E, G-L These are not LEDs and will not be discussed in this context
F LEDs, slave
LEDs, master
en0400001121
LEDs, slave
en0400001122
Illustration
xx0200000287
LEDs, master
en0400001121
General
Profibus communication boards are generally fitted in the Control Module. On the front of
the boards, a number of indication LEDs show the status of the unit and it's communication:
xx0100000223
Illustration
xx0100000227
A Slave channel. LED marked S, see below. See section Connections, slave connector
for connection tables!
B Master channel. LED marked M, see below. See section Connections, master
connector for connection tables!
LEDs
Designation Description
0 Indicates the status of the slave channel.
Lit when the slave is in data exchange mode.
1 Indicates the status of the master channel.
Lit when the master has the Profibus token.
143
Index
144
Index
145
Index
146
Index
147
Index
148