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6.14 Replacing the iCS-ECAT Unit for an iX4-650HS/800HS Robot
7. Once the chassis is in place, use a 5 mm hex wrench to tighten the chassis securing
screw.
8. Set all switch positions to the removed controller settings.
9. After connecting all previously disconnected cables to their original locations, the pro-
cedure is complete.
If you have problems bringing up the robot after iCS-ECAT replacement
Verify that all system cables are fully seated and installed correctly. Refer to System
l
Cable Installation on page 63.
Remove power from the iCS-ECAT, then verify that all iCS-ECAT electrical connectors
l
are fully-seated.
After checking iCS-ECAT cables, restore power to the robot and reboot the controller.
Check the Status Display fault code. This should be either OK or ON. Refer to Status
l
Codes on page 179 and Robot Status LED and Display Panel on page 105.
6.14 Replacing the iCS-ECAT Unit for an iX4-650HS/800HS Robot
Use the following procedure to replace the iCS-ECAT unit.
Record all faults or errors before beginning this procedure.
NOTE: This procedure is different for the iX4-650H/800H robot. Refer to Repla-
cing the iCS-ECAT Unit for an iX4-650H/800H Robot on page 135.
Removing the iCS-ECAT Chassis from an iX4-650HS/800HS Robot
1. Remove all power from the robot.
2. Switch OFF the 24 VDC input supply to the chassis 24 VDC input connector.
3. Switch off the 200 to 240 VAC input supply to the chassis AC Input connector.
138
CAUTION: PROPERTY DAMAGE RISK
Follow appropriate ESD procedures during the removal and replacement steps.
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A
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