Robot System - ABB IRB 6400R Product On-Line Manual

Fault tracing guide

1.2 Robot system

In this instance the robot system means the entire robot (controller + manipulator) and
process equipment.
Errors can occur in the form of several different errors where it is difficult to localise
one particular error, i.e. where it is not possible to directly pinpoint the unit that caused
the problem. For example, if the system cannot be cold-started, this may be due to sev-
eral different errors (the wrong diskette, a computer fault, etc.).
1.3 Main computer DSQC 361 and memory board DSQC 323/324
The main computer, which is connected to the VME bus and the local bus of the mem-
ory board, looks after the higher-level administrative work in the control system. Under
normal operating conditions, all diagnostic monitoring is controlled by the main com-
puter. At start-up, irrespective of whether a cold or warm start is performed, the robot
computer releases the main computer when the robot computer's diagnostics allows it
and, following this, the main computer takes over the control of the system. The read
and write memories of the main computer are battery-backed.
If the red LEDs on the main computer light up (or do not turn off at initialisation), either
a critical system failure has occurred or the main computer board or memory board is
faulty.
The memory board is an extension of the main computer memory.
The memory board has a LED, F, which is lit and turned off by the main computer.
If there is a memory error on one of these boards, an error code will be shown on the
display, T1047 or T2010. These error codes also include a field called the At address,
which in turn contains an hexadecimal code that indicates on which board the erroneous
memory circuit is located.
When the error is in the main computer, the hexadecimal code is in the following range:
0 X 000000 - 0 X 7FFFFF
When the error is in the memory board, the code is above 0 X 800 000.
4 Product Manual