ABB IRB 6400R Product On-Line Manual page 316

Troubleshooting Tools
# T1050: IOC IOC->MC Memory test Destructive, Low win
# T1506: IOC IOC->MC LED off
# T1508: IOC IOC->ERWM LED off
# T1512: IOC IOC->MC Load MC
# T1509: IOC IOC->MC Release MC
# T2002: MC Memory test (RWM) Destructive
# T2010: MC Memory test (RWM) BM Destructive
# T1510: IOC IOC->MC Reset MC
Warm start tests in consecutive order.
IOC = Robot computer
At every "power on", the IOC makes a destructive RWM test. If it fails, the IOC will
flash the NS and MS front LEDs and stop the program running.
# T1504: IOC LED off
# T1005: IOC Memory test (RWM) Non Destructive
# T1018: IOC Battery test
1.2 Monitor Mode 2
When the system is in Monitor Mode 2, a large number of tests can be run.
These tests must be performed only by authorised service personnel. It should be
noted that some of the tests will cause activity on customer connections and drive
systems, which can result in damage, accidents etc. unless suitable precautionary
measures are taken. It is advisable to disconnect all the connections involved dur-
ing these tests.
To ensure that all memory addresses are resetted after testing shall the system be
cold started.
The test mode Monitor mode 2 can be run from the teach pendant and/or a connected
PC/terminal.
6 Product Manual