Serial Communication; Drive System And Motors - ABB IRB 6400R Product On-Line Manual

1.7 Serial Communication

The most common causes of errors in serial communication are faulty cables (e.g.
mixed-up send and receive signals) and transfer rates (baud rates), or data widths that
are incorrectly set. If there is a problem, check the cables and the connected equipment
before doing anything else.
The communication can be tested using the integral test-program, after strapping the
input to the output. See chapter 9.

1.8 Drive System and Motors

The drive system, which consists of rectifier, drive unit and motor, is controlled by the
axis computer, located on the robot computer board.
Figure 1 A schematic description of the drive system.
The drive system is equipped with internal error supervision. An error is sent on via the
robot computer and can be read on the teach pendant display as an error message. An
explanation of the available error messages can be found in the User's Guide, System
and error messages, section 3, error no. 39XXX.
If a drive unit or rectifier is faulty, the unit should be replaced. Internal troubleshooting
cannot be performed in the operating environment.
Product Manual
Computer
Rotor position
Torque reference
DC link Drive Unit
Fault tracing guide
Serial measurement
board
M R
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