Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
Page 2 ELECTRICAL TROUBLESHOOTING MANUAL IRB6400 INDUSTRIAL ROBOT & S4 CONTROL SYSTEM Manual Part #7000722 Flexible Automation Inc. 1250 Brown Road Auburn Hills, Mich. 48326 (810) 391-9000 Effective Date: December 1, 1995 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 ABB Flexible Automation Inc. ABB assumes no responsibility for any errors that may appear in this document. In no event shall ABB Flexible Automation Inc. be liable for incidental or consequential damages arising from the use of this document of the software and hardware described in this document.
Page 4: Table Of Contents
TABLE OF CONTENTS TABLE OF CONTENTS ......... TOC - I INTRODUCTION .............. i IDENTIFICATION ............ii MAINTENANCE ............. iii TOOLS ................iv THIS MANUAL ............... v CHAPTER DESCRIPTIONS ........... vi APPENDICES DESCRIPTIONS ........vii SIGNS AND SYMBOLS ..........viii Safety..............1-3 General Safety ..........
Page 5: Table Of Contents
Table of Contents (Cont) Table of Contents (Cont) Figure 2-1 Control Cabinet...........2-47 Figure 2-2 Connectors ..........2-49 Figure 2-3 SMB ............2 -51 Figure 2-4 Back Plane AP80 ........2-53 Figure 2-5 Teach Pendant..........2-55 Loading System Software........3-3 Overview ............3-3 Floppy Disk ............3-4 Software Loading Procedure ......
Page 6 Table of Contents (Cont) Table of Contents (Cont) 5.3.2 Run Chain 2 ............5-18 Component Cross Reference ......5-19 List of Circuit Diagrams ........5-21 Component Location Figures ......5-29 Figure 5-1 Computer System and System Board..5-29 Figure 5-2 Back Plane AP80 ........5-31 Figure 5-3 System Board K1CR &...
Page 7 Table of Contents (Cont) Table of Contents (Cont) List of Circuit Diagrams ........8-9 Component Location Figures ......8-23 Figure 8-1 Power Unit ..........8-23 Figure 8-2 System Board ..........8-25 Figure 8-3 Robot Brake Buttons........8-27 Figure 8-4 Power System Board Connections....8-29 Figure 8-5 Robot Axes ..........8-31 Motor &...
Page 8 Table of Contents (Cont) Table of Contents (Cont) 11.2.3 Combined I/O Board DSQC 315......11-6 11.2.4 Remote I/O Board DSQC 239......11-7 11.3 Board Connections .......... 11-8 11.3.1 External I/O Connections (Conn. option 31X)..11-9 11.3.2 Internal I/O Connections (Conn. option 34X)..11-13 11.3.3 Relay Unit (Conn.
Page 9 Table of Contents (Cont) Table of Contents (Cont) Miscellaneous Cables ........C-6 Signal Cable, Axis 1 .......... C-7 Signal Cable, Axis 5 .......... C-8 Power Cable, Axis 5 .......... C-9 Signal Cable, Axis 6 ........C-10 Power Cable, Axis 6 ........C-11 Signal Cable, Axis 2 ........
Page 10: Introduction
INTRODUCTION This Troubleshooting Manual provides the data and procedures required to service the ABB Flexible Automation IRB6400 Industrial Robot with S4 Control. Additional supplemental manuals specific to special features may also have to be referred to if such special features and equipment are a part of the robot purchase.
Page 11: Identification
Boot Disk1 (2) Serial NoIRB 6400-XXXX Figure 3. Label on a system Property of ABB Vasteras/Sweden. All rights reserved. Reproduction, modification, use or disclosure to third parties without express diskette authority is strictly forbidden. Copyright 1994. Authorized to be used in the controllers with the above stated serial...
Page 12: Maintenance
All personnel working with the robot system must be very familiar with the safety regulations outlined in Chapter 1 (Safety). Incorrect operation can damage the robot or injure someone. Introduction - iii Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 13: Tools
The need for special tools has been reduced to a minimum. When tools are needed for assembly/disassembly, a description is given in the Assembly/Disassembly Guidelines Manual. During the ordinary service training courses arranged by ABB Flexible Automation, detailed descriptions of the tools are given together with their use. Suggested Hand Tools...
Page 14: This Manual
M94A controller. It was written for trained maintenance personnel with experience in electrical systems. The manual does not in any way assume to take the place of the maintenance course offered by ABB Flexible Automation. It is assumed that the user of this manual has a working knowledge of the system operations and basic programming skills.
Page 15: Chapter Descriptions
Inputs and Outputs. Also covered in this chapter will be how to monitor I/O Status and troubleshoot I/O problems. Introduction - vi Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 16: Appendices Descriptions
E. CIRCUIT DIAGRAMS A complete set of circuit diagrams needed for troubleshooting the IRB 6400 robot manipulator and Control Cabinet. Introduction - vii Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 17: Signs And Symbols
( ). DASH When a flow of a circuit is explained, they will be shown by a dash ( Introduction - viii Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 18: Safety
CHAPTER 1 SAFETY SAFETY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 19 Safety Control Chain of Operation ....1-9 Risks Associated with Live Parts ....1-11 Limitation of Liability ........1-12 Related Information ......... 1-12 Page 1 - 1 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 20 Safety NOTES Page 1 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 21 ABB has supplied the robot with numerous interfaces for external safety equipment. It is highly suggested that any place a safety device can be connected, should be. ABB is not responsible for the lack of external safety devices or any concerns if the external safety devices are manually bypassed.
Page 22: General Safety
Safety General Safety The user of an ABB robotic system has the final responsibility for the safety of personnel working with the system. The safety procedures used should be appropriate to the level of danger and risk associated with the particular installation. These safety...
Page 23: Safety Features
Enabling Device is pushed fully IN, or when it is released completely. This makes the robot safer to operate. Page 1 - 5 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 24: Safety Guidelines
EMERGENCY STOP button in case a dangerous situation should arise. Page 1 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 25 In general, loose-fitting clothes such as ties, scarves, arm bands, etc., should not be worn near the robot system. Page 1 - 7 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 26: Safety During Maintenance
The programmer must always be outside the restricted work envelope of the robot before initiating the automatic mode of operation. Page 1 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 27: Safety Control Chain Of Operation
CO M P UT E R M O T OR S O N K M 3 RE LA Y KM 1 DRIVE 263 V ac S YS TE M Page 1 - 9 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 28 After reset, the robot can be started again. The safety chains must never be bypassed, modified or changed in any other way. Page 1 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 29: Risks Associated With Live Parts
OFF position. Power cables which are in motion during the working process may be damaged. Page 1 - 11 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 30: Limitation Of Liability
Safety Limitation of Liability The previous information regarding safety must not be construed as a warranty by ABB Flexible Automation that the industrial robot will not cause injury or damage even if all safety instructions have been complied with. Related Information...
Page 31: Computer System
CHAPTER 2 COMPUTER COMPUTER SYSTEM SYSTEM Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 32 Computer System Computer System Table of Contents Table of Contents Computer System ..........2-3 Overview ............2-3 Diagram 2-1 Computer System and System Boards ... 2-3 System Description .......... 2-4 Diagram 2-2 Block Diagram ........2-5 Troubleshooting ..........2-6 2.3.1 General ............. 2-6 2.3.2 Diagnostics............
Page 33 Computer System NOTES Page 2 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 34: Overview
Computer System 2. 2. Computer System Computer System Overview The brain of the S4 (Series 4) controller is located on the bottom of the swing gate. This brain consists of several computer boards all connected together by a back plane. In this chapter the overall operation of the computer system will be explained along with a description of each individual board in the system.
Page 35: System Description
Teach Pendant. The Teach Pendant is the device used by humans to interface with the computer. Page 2 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 36: Diagram 2-2 Block Diagram
Computer System Diagram 2-2 Block Diagram MAIN MEMORY COMPUTER DSQC 317 DSQC 316 DSQC 321 Back Plane CPU = M68040 Back Plane System Board ROBOT COMPUTER Teach Pendant DSQC 326 EPROM Printer Servo Computer Computer Disk Drive Serial I/O Drive Boards System Serial...
Page 37: Troubleshooting
5) If needed check wiring by using the circuit diagrams. 6) Remember to check for mechanical problems. Page 2 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 38 Computer System Troubleshooting (Cont) General (Cont) NEVER start off by wildly replacing boards or units, this can result in the destruction of good boards in the system. Try to narrow a problem down to a single component causing a problem. PROBLEM ISOLATION: When troubleshooting the system a problem can be isolated by indications of operation that determine the...
Page 39 Sometimes it can be beneficial to perform a cold start to find certain computer board faults. Page 2 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 40: Diagnostics
Computer System Troubleshooting (Cont) Diagnostics (Cont) Intermittent errors do, unfortunately, occur. These can be the hardest errors to troubleshoot. When troubleshooting this type of error, it is important to monitor the error code and the conditions that exist when the error occurs. Conditions that should be noted include the position that the robot is at, the environmental conditions that exist (very hot or cold or is the robot getting wet), and operations...
Page 41: Board Descriptions
LED(s) on that board and any procedures that must be performed if that board is replaced. Page 2 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 42: Robot Computer Dsqc 326
Computer System 2.4.1 Robot Computer DSQC 326 Designation Color Description Turns OFF when the board approves the initialization. The robot computer, controls the system's I/O, axis control, serial communication and teach pendant communication. It is the first unit to start after a cold or warm start.
Page 43: Main Computer Dsqc 316
And then the resolver counts need to be updated. Refer to Chapter 3 - Loading System Software for procedures. Page 2 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 44: Memory Board Dsqc 317/6 Mb (Dsqc 321/4Mb)
Computer System 2.4.3 Memory Board DSQC 317/6 Mb (DSQC 321/4Mb) Designation Color Description Turns off when the board approves the initialization. The expansion memory, which is battery-backed, is an extension of the main computer's memory. The communication between the main computer and the expansion memory takes place over a specific DSQC 317/321...
Page 45: Power Supply Unit Dsqc 258
0 VDC If the Power Supply is replaced, there are no adjustments or procedures necessary. Page 2 - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 46: 2.4.5 System Board Dsqc 256A
Computer System 2.4.5 System Board DSQC 256A Designation Color Description Sensors 1-3 Yellow Lights when high signals are received from sensors 1-3. The LED shines more brightly the more voltage is input. This means that even if the input voltage is just under the voltage level “1”, the LED will glow dimly.
Page 47 For troubleshooting procedures refer to the Motors ON chapter in this manual. If replaced, there are no adjustments or procedures required. Page 2 - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 48: Digital I/O Board Dsqc 223
Computer System 2.4.6 Digital I/O Board DSQC 223 Designation Color Description INPUT Yellow Turns ON when it receives a high signal from an input. The LED shines more brightly the more voltage is input. This means that even if the input voltage is just under the voltage level “1”, the LED will glow dimly.
Page 49: Combined I/O Board Dsqc 315
Refer to Chapter 11 - Inputs & Outputs for procedure. If replaced, there are no adjustments or procedures required. Page 2 - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 50: Analog I/O Board Dsqc 209
Computer System 2.4.8 Analog I/O Board DSQC 209 Designation Label Description Test switch +15: + supply IN 1-4: input signal OUT 1-4: output signal - 15: - supply Test out Measuring The analog value of the signal terminal indicated by the test switch. Measuring terminal Turns off when the board...
Page 51: Remote I/O Board Dsqc 239
If the green LED is not lit and the red one goes OFF, the board's special communication circuit is probably faulty. If replaced, there are no adjustments or procedures required. Page 2 - 20 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 52: Axis Board Dsqc 233
Inputs (SYNC) Low -21V to +2V High +19V to +35V DSQC 233 is intended for use as an axis board for ABB and customer-specific external axes. The board is controlled by the axis computer via a serial bus on the backplane and can handle six axes.
Page 53: Serial Measurement Board (Smb)
R2 SMB 3-6 Test Connector 2 1 0V EXC2 2 EXC2 R2.X4 R2 SMB 1-4 R2.X3 R2 SMB 1-2 Page 2 - 22 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 54: Teach Pendant
Computer System Teach Pendant Sheet 7, line 01 ....The Teach Pendant communicates with the robot Sheet 8, line 01 ....computer via a cable (XS20). This cable is also used for the +24V supply and the dual operation chain. The unit's communication signals are fuse-protected on the backplane (F1 and F2).
Page 55: Component Cross Reference
Sheet 23 EPROM chips Robot computer board XS3.XT3 Cabinet, back Sheet 6, 7, 8 Cmputer system, back Sheet 6 Page 2 - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 56: List Of Circuit Diagrams
Computer System List of Circuit Diagrams POWER SUPPLY, +24VDC, +5VDC ....... 6 of 43 MOTOR ON CHAIN PART 1 ........7 of 43 MOTOR ON CHAIN PART 2 ........8 of 43 CONTROL CABLE ..........13.1 of 43 I/O BOARD POSITION .......... 18 of 43 DIGITAL I/O BD., COMBI, I/P PART ....
Page 57 Computer System NOTES Page 2 - 26 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 58: Component Location Figures
Computer System Component Location Figures Figure 2-1 Control Cabinet WRIST STRAP COMPUTER SYSTEM SYSTEM BOARD DSQC 326 EPROM CHIPS Page 2 - 47 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 59 Computer System NOTES Electrical Page 2 - 48 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 60: Figure 2-2 Connectors
Computer System Figure 2-2 Connectors XT10 XS\XP18 XS3/XT3 Page 2 - 49 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 61 Computer System NOTES Electrical Page 2 - 50 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 62: Figure 2-3 Smb
R 2.X 4 R 2.X 5 R 2.X 3 R2.X2 SM B (Inside c ove r) 7.2 VOLT BATTERY Page 2 - 51 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 63 Computer System NOTES Electrical Page 2 - 52 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 64 DS QC DS QC DS QC 25 6A F EN A S MS E RR 3.6 VOLT BATTERIES Page 2 - 53 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 65 Computer System NOTES Electrical Page 2 - 54 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 66: Figure 2-5 Teach Pendant
[Sea r ch . . . ] 9 Wa i t DI I PLhide T e s t stop Page 2 - 55 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 67 Computer System NOTES Electrical Page 2 - 56 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 68: Loading System Software
CHAPTER 3 LOADING LOADING SYSTEM SYSTEM SOFTWARE SOFTWARE Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 69 Component Location Figures ......3-17 Figure 3-1 Batteries ..........3-17 Figure 3-2 Floppy Disk Drive........3-19 Figure 3-3 Robot Calibration Position.....3-21 Electrical Page 3 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 70 Loading System Software NOTES Page 3 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 71: Overview
In this chapter the procedures required to reload the system software is explained. Electrical Page 3 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 72: Floppy Disk
Then the system will format the floppy disk that is in the drive. When the formatting is complete the screen will return showing the contents of the empty disk. Page 3 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 73: Software Loading Procedure
Boot Disk 3 (article number 3HAB2312- 2.rev#) and press OK. The message “Loading..” will appear. Electrical Page 3 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 74 The choices are: ELMO SIEMENS d. Select the language you want. Choices are: English Swedish German French Spanish etc. Page 3 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 75 Boot Disk 4 or load the system parameters from your personal disk on which the current parameters have been stored. Electrical Page 3 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 76: Parameter Loading Procedure
RESTART Joint sync errors may occur. Press OK and continue. 4. Now the resolver counters must be updated. Page 3 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 77: Resolver Revolution Counter Update
The following screen will be displayed. Edit View Calib File Service Calibration Unit Status 1 (1) Not Rev. updated Electrical Page 3 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 78 The following screen should appear: Edit V iew Calib File S ervice Calibration U nit S tatus 1 (1) S ynchronized Page 3 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 79 “cal6400.prg ”. Press OK. Then start the program and answer the questions for your robot. This information can be found on the tag next to the main disconnect. The questions asked will be: a. Type of IRB6400. The choices will are 2.4-120 2.25-75 2.4-150...
Page 80 If problem reoccurs, troubleshoot the resolver circuits as per Chapter 9 - Motors and Resolver Circuitry. Page 3 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 81: List Of Circuit Diagrams
Loading System Software List of Circuit Diagrams FLOPPY DISC UNIT, DATA PORTS, BATTS ..14 of 43 Electrical Page 3 - 13 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 82 Loading System Software NOTES Page 3 - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 83: Component Location Figures
Loading System Software Component Location Figures Figure 3-1 Batteries S4/M94A Computer System D SQ C DS QC DS QC DS QC 3 26 25 6A F E N A S M S L IM E RR 3.6 VOLT 3.6 VOLT BATTERIES BATTERIES AP80...
Page 84 Loading System Software NOTES Electrical Page 3 - 18 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 85: Figure 3-2 Floppy Disk Drive
Loading System Software Figure 3-2 Floppy Disk Drive Wo r ki ng Disk Li g ht Slot Eject Button Page 3 - 19 Electrical Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 86 Loading System Software NOTES Electrical Page 3 - 20 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 87: Figure 3-3 Robot Calibration Position
Loading System Software Figure 3-3 Robot Calibration Position Page 3 - 21 Electrical Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 88 Loading System Software NOTES Electrical Page 3 - 22 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 89 Loading System Software Component Location Figures Figure 3-1 Batteries S4/M94A Computer System D SQ C DS QC DS QC DS QC 3 26 25 6A F E N A S M S L IM E RR 3.6 VOLT 3.6 VOLT BATTERIES BATTERIES AP80...
Page 90 Loading System Software NOTES Electrical Page 3 - 18 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 91 Loading System Software Figure 3-2 Floppy Disk Drive Wo r ki ng Disk Li g ht Slot Eject Button Page 3 - 19 Electrical Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 92 Loading System Software NOTES Electrical Page 3 - 20 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 93 Loading System Software Figure 3-3 Robot Calibration Position Page 3 - 21 Electrical Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 94 Loading System Software NOTES Electrical Page 3 - 22 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 95: Power On
CHAPTER 4 POWER ON POWER ON CIRCUITRY CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 96 Figure 4-2 Inside Swing Gate.........4-25 Figure 4-3 Brake Push Buttons ......4-27 Figure 4-4 Customer Connection XS3/XT3.....4-29 Figure 4-5 Operator's Panel........4-31 Electrical Page 4 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 97 Power On Circuitry NOTES Page 4 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 98: Overview
'LIVE' when the main disconnect switch is turned ON. It will go through both the AC Power Circuits and DC Power Circuits. ABB robot product lines are designed to run on several different voltage sources. The Back Plane is used for easy access to the individual circuits for testing.
Page 99: Ac Power Distribution
Sheet 6, line 17 ....which on wire L33 supplies power to the Control Power Fig. 4-1,2 ... Supply GS1:XP1 pin D2. Page 4 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 100: Dc Power Distribution
Enable Signal to the drive system AP9:XP1 pin 4. Fig. 4-2 ....The drive system can not be started or run without this voltage. Electrical Page 4 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 101 X32 pin 5 to XS20 pin G in to the Teach Pendant. This is the only power source for the Teach Pendant. Page 4 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 102 X35 Back Plane AP41:XP1 This will identify to the computer which mode has been selected using the Key Switch. Electrical Page 4 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 103: Component Cross Reference
Sheet 24 Supervisory relay KM3 Swing gate, top Sheet 9 System board AP41 Swing gate, front Sheet 8 Page 4 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 104: List Of Circuit Diagrams
COOLING, SERV OUTLET ........24 of 43 BRAKE UNIT, SERIAL MEAS. BOARD ....104 of 12 AXIS 1 ..............105 of 12 Electrical Page 4 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 105 Power On Circuitry NOTES Page 4 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 106: Component Location Figures
Component Location Figures Figure 4-1 Inside Front of Control Cabinet POWER SUPPLY SYSTEM BOARD TM1.XT1 FU 1-3 XT31 Electrical Page 4 - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 107 Power ON Circuitry NOTES Page 4 - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 108: Figure 4-2 Inside Swing Gate
Power ON Circuitry Figure 4-2 Inside Swing Gate SERVICE LIGHT GS1:XS1 XS3/ST3 SWING GATE XS21 AP41.XS1 AP60.RV1-4 XS18 Electrical Page 4 - 25 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 109 Power ON Circuitry NOTES Page 4 - 26 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 110: Figure 4-3 Brake Push Buttons
Power ON Circuitry Figure 4-3 Brake Push Buttons R3.BU1-6 R 3.BU1-3 R3.BU4-6 BRAKE UNIT R 1.MP Electrical Page 4 - 27 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 111 Power ON Circuitry NOTES Page 4 - 28 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 112 Power ON Circuitry Figure 4-4 Customer Connection XS3/XT3 Swing Gate XS3/XT3 Electrical Page 4 - 29 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 113 Power ON Circuitry NOTES Page 4 - 30 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 114: Figure 4-5 Operator's Panel
T O P T T O KEYSWITCH MOTORS ON MOTORS OFF BACK VI EW BACK VIEW EMERGENCY STOP PUSHBUTTON Electrical Page 4 - 31 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 115 Power ON Circuitry NOTES Page 4 - 32 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 116 CHAPTER 5 MOTORS ON/ MOTORS ON/ DUAL RUN CHAIN DUAL RUN CHAIN CIRCUITRY CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 117 Figure 5-6 Operator's Panel .........5-39 Figure 5-7 Power Unit ..........5-41 Figure 5-8 R1.MP ............5-43 Figure 5-9 Teach Pendant..........5-45 Page 5 - 1 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 118 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 119: Motor On/Dual Run Chain
Back Plane is used for easy access to the individual circuits for testing. Capacitors rated at 100 nanofarads are used throughout the circuits to reduce noise. ABB is not responsible if safety equipment is not connected and jumpers are used to bypass an open circuit. Page 5 - 3...
Page 120: Diagram 5-1 Computer System And System Board
COMPU TER ENA BLE COMPUTER MO TORS ON K M3 RELA Y 24 V DRIVE 263 Vac SYSTEM Page 5 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 121: Manual (Reduced Or Full) Speed Mode Circuit
24 VDC will also go through a fuse FU3, (1.6 amps on the back plane) out connector X35 pin 23 then to customer connections XS3/XT3 pin A1. Page 5 - 5 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 122: Run Chain 1 - Manual Stop Circuit
Enable Device is held closed, then the circuit needs repair or the Manual Stop circuit has been opened. Page 5 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 123: Run Chain 1 - General Stop (Gs) Circuit
The 24 VDC from A6 also goes to A7 on XS3/XT3. Sheet 8, line 08 .... Fig. 5-5 .... Page 5 - 7 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 124: Run Chain 1 - Emergency Stop (Es) Circuit
If the LED is NOT lit and the Enable Device is held in, then the circuit is open and either needs repair or an E- Stop has been activated. Page 5 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 125: Run Chain 1 - Limit (Lim) Circuit
System board (DSQC 256A) AP41:XP1 pin C15. This turns on the LIM 1 LED (the left one) on the System board (DSQC 256A). Page 5 - 9 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 126: Run Chain 1 - Completion
Fig. 5-1,2 ..256A) detects that neither MON or MOFF is on. This means that one Run Chain is open. Page 5 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 127: Run Chain 2
If the meter reads 24 VDC the circuits are intact to 0V. Remember while checking these circuits have someone hold the enabling device in the center position. Page 5 - 11 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 128: Run Chain 2 - Manual Stop Circuit
Stop circuitry as was done for Run Chain 1. If this is NOT used, a jumper is placed between XS3/XT3 terminals B1 and B2. Page 5 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 129: Run Chain 2 - General Stop Circuit
Sheet 8, line 08 .... 0 VDC will then go from XS3/XT3 terminal B6 to XS3/XT3 terminal B7. Page 5 - 13 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 130: 5.2.10 Run Chain 2 - Emergency Stop Circuit
Sheet 8, line 09 .... between B9 and B10. Fig. 5-5 .... Page 5 - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 131: 5.2.11 Run Chain 2 - Limit Circuit
(DSQC 256A) pin C16. This causes the LIM 2 LED to light, indicating that Run Chain 2 is intact. Page 5 - 15 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 132: 5.2.12 Run Chain 2 - Completion
256A) detects that neither MON or MOFF is on. This may mean that one of the Run Chains is open. Page 5 - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 133: Auto Mode Circuit
24 VDC will go out through terminal 1 on the key switch and then continue as it did for Manual modes. Page 5 - 17 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 134: Run Chain 2
If the Key Switch is in AUTO mode, 0 VDC goes through terminal 5 and continues like the Manual mode circuit. Page 5 - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 135: Component Cross Reference
Sheet 8 XS1/XP1 Cabinet, left Sheet 13.1 XS/XP20 Front door Sheet 7, 8 XS/XP22 Cabinet, back Sheet 8 Page 5 - 19 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 136 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 20 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 137: List Of Circuit Diagrams
CONTROL CABLE ..........13.1 of 43 EXTERNAL AXES 7-8 ........... 15 of 43 AXIS 1 ..............105 of 12 Page 5 - 21 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 138 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 22 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 139: Component Location Figures
D SQ C 2 56A 32 6 3 16 A S M S LI M E R R Page 5 - 29 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 140 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 30 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 141 0V 1 2 P E N D A NT F U 3 FD U P O W E R Page 5 - 31 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 142 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 32 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 143: Figure 5-3 System Board K1Cr & K2Cr
Motors ON/Dual Run Chain Circuitry Figure 5-3 System Board K1CR & K2CR SYSTEM BOARD 256A K1CR & K2CR Page 5 - 33 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 144 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 34 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 145 Motors ON/Dual Run Chain Circuitry Figure 5-4 Control Cable XS1 <250 mm/s 100% Page 5 - 35 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 146 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 36 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 147 Motors ON/Dual Run Chain Circuitry Figure 5-5 Customer Connections XS3/XT3 & AP41 XS/XP18 XS22 XS3/XT3 AP41 Page 5 - 37 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 148 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 38 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 149: Figure 5-6 Operator's Panel
T O P T T O MOTORS ON KEYSWITCH MOTORS OFF BACK VI EW BACK VIEW EMERGENCY STOP PUSHBUTTON Page 5 - 39 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 150 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 40 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 151: Figure 5-7 Power Unit
Motors ON/Dual Run Chain Circuitry Figure 5-7 Power Unit TOP VIEW POWER UNIT SWING GATE Page 5 - 41 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 152 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 42 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 153: Figure 5-8 R1.Mp
Motors ON/Dual Run Chain Circuitry Figure 5-8 R1.MP AXIS 1 HARD STOP OPTIONAL LIMIT SWITCH IS LOCATED UNDER HERE. R1.MP Page 5 - 43 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 154 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 44 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 155: Figure 5-9 Teach Pendant
[Sea r ch . . . ] 9 Wa i t DI I PLhide T e s t stop Page 5 - 45 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 156 Motors ON/Dual Run Chain Circuitry NOTES Page 5 - 46 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 157 CHAPTER 6 EMERGENCY STOP EMERGENCY STOP CIRCUITRY CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 158 Figure 6-2 Computer System & System Board..6-17 Figure 6-3 Back Plane AP80 ........6-19 Figure 6-4 Operator's Panel........6-21 Figure 6-5 Customer Connections XS3/XT3....6-23 Electrical Page 6 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 159 Emergency Stop Circuitry NOTES Page 6 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 160: Emergency Stop
This chapter is in three sections. One for Run Chain 1, one for Run Chain 2, and the third for the circuits used to reset an Emergency Stop. Electrical Page 6 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 161: Emergency Stop - Run Chain 1
To the back plane X32 pin 9. Past a noise reducing capacitor (C4) to X35 pin 3. Then to XS3/XT3 terminal A9. Page 6 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 162: Emergency Stop - Run Chain 1
On the System board, the 24 VDC turns on a light on the front of the System board labeled “ES”, indicating that the Emergency Stop circuit is OK. Electrical Page 6 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 163 Past a noise reducing capacitor (C3) to X35 pin 4. Then to XS3/XT3 terminal B9. Sheet 8, line 05 .... Fig. 6-5 .... Page 6 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 164: Emergency Stop - Run Chain 2
Run Chain 2, other than the LIM 2 LED which indicates Run Chain 2 is open somewhere. Electrical Page 6 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 165: Emergency Stop - Reset Circuit
Emergency Stop Reset and allows K2CR on the System board to close when attempting to turn the motors ON after an emergency stop. Page 6 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 166: Component Cross Reference
System board (DSQC 256A) Swing gate, bottom Sheet 8 6-2,6-3 Control panel Motors Off Cabinet, front Sheet 7 Electrical Page 6 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 167 Emergency Stop Circuitry NOTES Page 6 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 168: List Of Circuit Diagrams
MOTOR ON CHAIN PART 1 ........7 of 43 MOTOR ON CHAIN PART 2 ........8 of 43 Electrical Page 6 - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 169 Emergency Stop Circuitry NOTES Page 6 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 170: Component Location Figures
[Sea r ch . . . ] 9 Wa i t DI I PLhide T e s t stop Electrical Page 6 - 15 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 171 Emergency Stop Circuitry NOTES Electrical Page 6 - 16 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 172: Figure 6-2 Computer System & System Board
D S Q C D SQ C 256 A 32 6 A S M S LI M E R R Electrical Page 6 - 17 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 173 Emergency Stop Circuitry NOTES Electrical Page 6 - 18 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 174: Figure 6-3 Back Plane Ap80
P E N D A N T F U 3 F D U P O W E R Electrical Page 6 - 19 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 175 Emergency Stop Circuitry NOTES Electrical Page 6 - 20 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 176: Figure 6-4 Operator's Panel
T O P T T O MOTORS ON KEYSWITCH MOTORS OFF BACK VI EW BACK VIEW EMERGENCY STOP PUSHBUTTON Electrical Page 6 - 21 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 177 Emergency Stop Circuitry NOTES Electrical Page 6 - 22 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 178: Figure 6-5 Customer Connections Xs3/Xt3
Emergency Stop Circuitry Figure 6-5 Customer Connections XS3/XT3 XS3/XT3 AP41 Electrical Page 6 - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 179 Emergency Stop Circuitry NOTES Electrical Page 6 - 24 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 180 CHAPTER 7 POWER UNIT POWER UNIT CIRCUITRY CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 181 Figure 7-1 Power Unit ..........7-17 Figure 7-2 XS3/XT3 and Connectors AP41 & AP9..7-19 Figure 7-3 K1CR & K2CR on System Board....7-21 Electrical Page 7 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 182 Power Unit Circuitry NOTES Page 7 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 183: Power Unit
Overview The power unit is located on top of the swing gate and Fig. 7-1 .... is made up of four 24 VDC relays made by ABB. The four relays are: KM1 — Motors ON Relay 1 KM2 — Motors ON Relay 2 KM3 —...
Page 184 Normally CLOSED contacts 21 and 22 are used to Fig. 7-2 .... bypass the Motors Hold Off circuits on XS3/XT3 terminal C1 and C2. Page 7 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 185 Normally CLOSED contacts 21 and 22 are used to Fig. 7-2 .... bypass the Motors Hold Off circuits on XS3/XT3 terminal C1 and C2. Electrical Page 7 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 186 Sheet 9, line 01 .... If this circuit is not being used then a jumper is required between D1 and D2. Page 7 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 187: Diagram 7-1 Rectifier Board
Drive Rectifier. Diagram 7-1 Rectifier Board 10 ohm 10 ohm 3 PHASE RECTIFIER 262 Vac 340 Vdc Electrical Page 7 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 188 Sheet 9, line 13 .... Normally CLOSED contacts 51 and 52 are used to disable the brake push buttons. Page 7 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 189: Component Cross Reference
Swing gate, front sheet 8 XS3/XT3 Cabinet, back Sheet 8 Drive system AP1 Swing gate, upper Sheet 12 Electrical Page 7 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 190 Power Unit Circuitry NOTES Page 7 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 191: List Of Circuit Diagrams
MOTOR ON CHAIN PART 2 ........8 of 43 POWER UNIT ............9 of 43 6400 DRIVE SYSTEM ........... 12 of 43 Electrical Page 7 - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 192 Power Unit Circuitry NOTES Page 7 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 193: Component Location Figures
Component Location Figures Figure 7-1 Power Unit TOP VIEW POWER UNIT KM RELAY COILS NOISE SUPPRESSORS SWING GATE LOWER LEVEL Page 7 - 17 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 194 Power Unit Circuitry NOTES Electrical Page 7 - 18 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 195 Power Unit Circuitry Figure 7-2 XS3/XT3 and Connectors AP41 & AP9 DR - 15 XS3/XT3 AP41 Page 7 - 19 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 196 Power Unit Circuitry NOTES Electrical Page 7 - 20 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 197: Figure 7-3 K1Cr & K2Cr On System Board
Power Unit Circuitry Figure 7-3 K1CR & K2CR on System Board SYSTEM BOARD 256A K1CR & K2CR Page 7 - 21 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 198 Power Unit Circuitry NOTES Electrical Page 7 - 22 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 199 CHAPTER 8 BRAKE CIRCUITRY BRAKE CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 200 Figure 8-2 System Board ..........8-25 Figure 8-3 Robot Brake Buttons........8-27 Figure 8-4 Power System Board Connections....8-29 Figure 8-5 Robot Axes ..........8-31 Electrical Page 8 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 201 Brake Circuitry NOTES Page 8 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 202: Brake Circuitry
There will be two sections, one for Manual Brake Release circuits and one for Motors ON Brake Release circuits. Electrical Page 8 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 203: Manual Brake Release Circuit
USE EXTREME CAUTION WHEN MANUALLY RELEASING BRAKES. ROBOT MAY FALL OR RISE UNEXPECTEDLY CAUSING PERSONAL INJURY OR TOOLING DAMAGE!! Page 8 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 204: Motors On Brake Release
Sheet 5, line 16 .... KM4 relay will energize as long as circuit breaker Fig. 8-4 .... FS1 has not opened. Electrical Page 8 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 205 The other side of the coil would return to 0 VDC. The other axes would work similarly. Page 8 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 206: Component Cross Reference
Robot, right side Sheet 104 R2.MP1, R3.MP2, R3.MP3, R3.MP4, R4.MP5, R4.MP6, Robot Sheets 105, 106, 107,108,109,110 K3CR System Board Sheet 9 Electrical Page 8 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 207 Brake Circuitry NOTES Page 8 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 208: List Of Circuit Diagrams
AXIS 4 ..............108 of 12 AXIS 5 ..............109 of 12 AXIS 6 ..............110 of 12 Electrical Page 8 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 209 Brake Circuitry NOTES Page 8 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 210: Component Location Figures
Component Location Figures Figure 8-1 Power Unit TOP VIEW POWER UNIT KM RELAY COILS NOISE SUPPRESSORS SWING GATE LOWER LEVEL Electrical Page 8 - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 211 Brake Circuitry NOTES Page 8 - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 212: Figure 8-2 System Board
Brake Circuitry Figure 8-2 System Board SYSTEM BOARD 256A K3CR Electrical Page 8 - 25 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 213 Brake Circuitry NOTES Page 8 - 26 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 214: Figure 8-3 Robot Brake Buttons
Brake Circuitry Figure 8-3 Robot Brake Buttons R3.BU1-6 R 3.BU1-3 R3.BU4-6 BRAKE UNIT R 1.MP Electrical Page 8 - 27 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 215 Brake Circuitry NOTES Page 8 - 28 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 216: Figure 8-4 Power System Board Connections
Brake Circuitry Figure 8-4 Power System Board Connections SWING GATE AP41 XS\XP1 FU1-3 XT31 Electrical Page 8 - 29 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 217 Brake Circuitry NOTES Page 8 - 30 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 218: Figure 8-5 Robot Axes
AXIS 3 MOTOR, RIGHT SIDE (as viewed from rear of robot) AXIS 1 MOTOR (inside cover) (inside base) Electrical Page 8 - 31 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 219 Brake Circuitry NOTES Page 8 - 32 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 220 CHAPTER 9 MOTOR & MOTOR & RESOLVER RESOLVER CIRCUITRY CIRCUITRY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 221 Figure 9-1 Back Plane AP80 ........9-31 Figure 9-2 Drive System Boards ........9-33 Figure 9-3 Robot Axis Motors........9-35 Figure 9-4 Drive Connectors ........9-37 Electrical Page 9 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 222 Motor & Resolver Circuitry NOTES Page 9 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 223: Motor & Resolver Circuitry
If any component in this loop is disconnected or fails, the system will generate a fault. Electrical Page 9 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 224: Computer
Troubleshooting of the Memory Board can be difficult. Refer to Chapter 2 - Computer System for trouble shooting procedures. Page 9 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 225: Robot Computer
Troubleshooting of the Robot Computer can be difficult. Refer to Chapter 2 - Computer System for trouble shooting procedures. Electrical Page 9 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 226: Drive System Boards
The resister will absorb the current fed back from the motors causing an electronic braking action on the motor. Page 9 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 227 Replacement of a rectifier board requires no special setups or adjustments. Electrical Page 9 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 228: Drive Unit
Replacement of a drive board requires no special setups or adjustments. Page 9 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 229: Motors
Electrical Page 9 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 230: Diagram 9-5 'Y' Motor Wiring Configuration
PTC (positive temperature coefficient). This device increases resistance as temperature rises. The normal room temperature resistance is approximately 120 ohms. Page 9 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 231 Use caution not to pound on the motor shaft this will cause serious motor damage. Electrical Page 9 - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 232: Resolver
Replacement of a resolver is not recommended with out replacement of the motor since they are factory assembled. Page 9 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 233: Serial Measurement Board (Smb)
Replacement of the SMB requires the updating on revolution counters. See Chapter 10 - Calibration Procedures for details. Electrical Page 9 - 13 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 234 Motor & Resolver Circuitry NOTES Page 9 - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 235: Component Cross Reference
Swing Gate Back XS/XP2 Cabinet, Left Sheet 13.1 AP80-X31 Swing Gate, bottom Sheet 13.1 R1.SMB Robot, back Sheet 104, 13.1 Electrical Page 9 - 15 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 236 Motor & Resolver Circuitry NOTES Page 9 - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 237: List Of Circuit Diagrams
AXIS 4 ..............108 of 12 AXIS 5 ..............109 of 12 AXIS 6 ..............110 of 12 Electrical Page 9 - 17 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 238 Motor & Resolver Circuitry NOTES Page 9 - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 239: Component Location Figures
Motors & Resolver Circuitry Component Location Figures Figure 9-1 Back Plane AP80 Page 9 - 31 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 240 Motors & Resolver Circuitry NOTES Page 9 - 32 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 241: Figure 9-2 Drive System Boards
Motors & Resolver Circuitry Figure 9-2 Drive System Boards RECTIFIER (DC-LINK) INRUSH DRIVE RESISTERS BOARDS 10 OHM DYNAMIC BRAKING RESISTERS LEDs Page 9 - 33 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 242 Motors & Resolver Circuitry NOTES Page 9 - 34 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 243: Figure 9-3 Robot Axis Motors
SM B AXIS 1 MO TOR & R ESO LVER (inside cover) (inside base) R1.MP R1.SMB 7.2 VOLT BATTERY Page 9 - 35 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 244 Motors & Resolver Circuitry NOTES Page 9 - 36 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 245: Figure 9-4 Drive Connectors
XS 1 AP1-AP7 SWING GATE A P1 A P2 X S1 XS 1 XS 1 XS 1 XS/XP1 Page 9 - 37 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 246 Motors & Resolver Circuitry NOTES Page 9 - 38 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 247 CHAPTER 10 CALIBRATIONS CALIBRATIONS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 248 10.4.1 Calibrating Axis 1 .......... 10-15 10.4.2 Calibrating Axis 2-6 ........10-16 10.5 Counter Updating Procedure ......10-23 Electrical Page 10 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 249 Calibration Procedures NOTES Page 10 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 250: Calibration Procedures
— Counter updating procedures. Each procedures purpose and when it should be used is explained in each procedure. Electrical Page 10 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 251: Rough" Resolver Calibration Procedure
NOTE: If Axis 3 is to be moved to its calibration position you must move Axis 2 to its calibration position first. Page 10 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 252 Unit Status 1 (1) N o t Cal ibrate d The calibration status will appear on the screen. Electrical Page 10 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 253 INCL to include the axes to be calibrated. Page 10 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 254 OK again. The following screen should appear. Edit View Calib File Service Calibration Unit Status 1 (1) Synchronized Electrical Page 10 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 255 3HAB 4039-1... Use Motor Type 1.570800... Commutator Offset 4.002827... Calibration Offset Com Offset Valid Cal Offset Valid Enter Cancel Page 10 - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 256 Save these values to your Boot Disk 4 and all back up copies. Electrical Page 10 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 257: Manually Entering Calibration Values
3HAB 4039-1 irb_1 3HAB 4040-1 irb_2 3HAB 4040-1 irb_3 3HAB 4041-1 irb_4 3HAB 4041-1 irb_5 3HAB 4042-1 irb_6 Page 10 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 258 Name: Moc... Massmemory Unit = flp1: \syspar 1 (6) Go up one level Parameters Parameters Parameters PROC Parameters Cancel Electrical Page 10 - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 259 3HAB 4039-1 irb_1 3HAB 4040-1 irb_2 3HAB 4040-1 irb_3 3HAB 4041-1 irb_4 3HAB 4041-1 irb_5 3HAB 4042-1 irb_6 Page 10 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 260 5. Move the cursor to CAL OFFSET . Press ENTER and type the correct calibration values. 6. When completed press OK. Electrical Page 10 - 13 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 261: Precision Resolver Calibration Procedure
(3HAA 0001-MZ). Also needed to accomplish this procedure will be digital leveling equipment. This equipment does not come with the robot. This equipment can be purchased through ABB. The only time that the resolvers should be calibrated using this method is when the resolver has been mechanically disassembled from the mechanical unit.
Page 262: Calibrating Axis 1
10.4.1 Calibrating Axis 1 3. Remove cover plate on the reference surface on gearbox 1. 4. Attach the synchronization fixture (ABB# 6896 0011-YM) to the flat surface and insert the corresponding measuring rod (6896 0011-YN) in one of the three holes in the base.
Page 263: Calibrating Axis 2-6
See also Figure 3. NOTE: The sensor unit must always be mounted on top of the fixture. Page 10 - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 264 15. When all axes have been adjusted, the resolver values are stored by executing commands listed (following steps 16 through 25) on the teach pendant. Electrical Page 10 - 17 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 265 CALIBRATION. The figure below should appear. Edit View Calib File Service Calibration Unit Status 1 (1) Not Calibrated Page 10 - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 266 INCL to include the axes to be calibrated. Electrical Page 10 - 19 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 267 OK again. The following screen will appear. Edit View Calib File Service Calibration Unit Status 1 (1) Synchronized Page 10 - 20 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 268 3HAB 4039-1... Use Motor Type 1.570800... Commutator Offset 4.002827... Calibration Offset Com Offset Valid Cal Offset Valid Enter Cancel Electrical Page 10 - 21 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 269 Save these values to your Boot Disk 4 and all back up copies. Page 10 - 22 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 270: Counter Updating Procedure
Axis 6 is allowed to rotate endlessly. However the revolution counter will only be correct at one position and being multiple axis revolutions off won’t work. Electrical Page 10 - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 271 The figure below shows all six axis in the calibration position. NOTE if counter values are lost the robot will not move in linear motion. Page 10 - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 272 To calibrate, include axes and press OK. Axis Status 3 (6) Not Calibrated Not Calibrated Calibrated Calibrated Calibrated Calibrated Cancel Incl Electrical Page 10 - 25 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 273 If the correct revolution can not be found then the axis must be recalibrated using one of the previous procedures. Page 10 - 26 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 274 Calibration Procedures NOTES Electrical Page 10 - 27 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 275 Calibration Procedures NOTES Page 10 - 28 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 276 CHAPTER 11 INPUTS & INPUTS & OUTPUTS OUTPUTS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 277 11.6 Component Location Figures ......11-40 Figure 11-1 XS3/XT3 ...........11-40 Figure 11-2 Screw Terminals ........11-41 Figure 11-3 120 VAC I/O Connector......11-42 Electrical Page 11 - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 278 Inputs & Outputs NOTES Page 11 - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 279: Inputs & Outputs
I/O connection options will also be explained with examples of wiring different I/O devices. The manual operation of I/O will also be discussed. Electrical Page 11 - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 280: I/O Boards
Refer to the Manual Operation (page 11-19) in this chapter. If replaced, there are no adjustments or procedures required. Page 11 - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 281: Analog I/O Board Dsqc 209
(i.e. the board is not defined). Refer to the Manual Operation (page 11-19) in this chapter. Electrical Page 11 - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 282: Combined I/O Board Dsqc 315
USED IN SLOT 1 ONLY SIX I/O SLOTS D SQ C DSQC DS QC DSQC 256A A S MS E RR Page 11 - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 283: Remote I/O Board Dsqc 239
A S M S If replaced, there are no adjustments or procedures L IM E RR required. Electrical Page 11 - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 284: Board Connections
Inputs & Outputs 11.3 Board Connections Board Connectors The ABB Robot system has several different I/O connection options available. The type of connector depend upon the customer requirements. The following chart shows the different type of I/O boards in their allowed slots.
Page 285: External I/O Connections (Conn. Option 31X)
All groups can also be supplied by the same source voltage if desired. XS15 XS16 XS13 XS14 XS11 XS12 XS10 Electrical Page 11 - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 286 B5 and the other side would be wired to 0 VDC. The analog output would also need XS10 pin C5 connected to 0 VDC. Page 11 - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 287 Load per group of 8 outputs: Maximum potential difference: 500 V Time intervals: <150 ms (hardware) plus <2 ms (software) Electrical Page 11 - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 288 20 mA (20 / 1024) Accuracy: 60 mA plus 0.5% of output current Maximum potential difference: 500 V Page 11 - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 289: Internal I/O Connections (Conn. Option 34X)
10, and the other wired to 0 VDC. The output would also need XT10 terminal 11 connected to 0VDC. Electrical Page 11 - 13 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 290 Load per group of 8 outputs: Maximum potential difference: 500 V Time intervals: <150 ms (hardware) plus <2 ms (software) Page 11 - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 291 20 mA (20 / 1024) Accuracy: 60 mA plus 0.5% of output current Maximum potential difference: 500 V Electrical Page 11 - 15 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 292: Relay Unit (Conn. Option 37X)
0 V must be supplied to this group of outputs. This can be done by wiring the source to XT1 terminal 121. Page 11 - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 293 Digital Outputs Technical Data: Load per output: Load per group of 8 outputs: 6.3 A Voltage range (source): 250 VAC Electrical Page 11 - 17 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 294: Vac Modules (Conn. Option 35X)
Voltage range (source): 24 - 140 VAC Frequency range (source): 25 - 70 Hz Maximum potential difference: 2 kV Page 11 - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 295: Manually Operated I/O
Name 1 (35) do10 do11 do1 2 do1 3 do1 4 do1 5 do1 6 do1 7 do18 Electrical Page 11 - 19 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 296 Inputs & Outputs NOTES Page 11 - 20 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 297: Component Cross Reference
Sheet 19.2 and Sheets 20.2 &20.3 120 VAC Modules(Conn. option 35X) Control, back Sheet 19.3 and Sheet 20.4 11-3 Electrical Page 11 - 21 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 298 Inputs & Outputs NOTES Page 11 - 22 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 299: List Of Circuit Diagrams
COMBI I/O BD. ANALOG, O/P PART ....21.2 of 43 ANALOGUE I/O BOARD ........22 of 43 REMOTE I/O BOARD FOR A-B PLC ....23 of 43 Electrical Page 11 - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 300 Inputs & Outputs NOTES Page 11 - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 301: Component Location Figures
Inputs & Outputs 11.6 Component Location Figures Figure 11-1 XS3/XT3 0 VD C 24 VDC XS3/XT3 Electrical Page 11 - 41 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 302 Inputs & Outputs NOTES Page 11 - 42 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 303: Figure 11-2 Screw Terminals
Inputs & Outputs Figure 11-2 Screw Terminals Electrical Page 11 - 43 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 304 Inputs & Outputs NOTES Page 11 - 44 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 305: Figure 11-3 120 Vac I/O Connector
Inputs & Outputs Figure 11-3 120 VAC I/O Connector OUTPUTS INPUTS Electrical Page 11 - 45 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 306 Inputs & Outputs NOTES Page 11 - 46 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 307 APPENDIX A ERROR MESSAGES ERROR MESSAGES Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 308 Motion Error Messages ......A-59 A3.6 Operator Error Messages ......A-67 A3.7 I/O & Communication Error Messages ..A-69 Electrical Appendix A - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 309: Error Messages
If any of the messages in the log are Appendix A - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 310: A2. Types Of Error Messages
The programmer then has the choice of approving this change of state. Change of State Message Electrical Appendix A - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 311 “NO” ..which indicates that this is not what you want to happen. Warnings can also be eliminated in system parameters if desired. Warning Message Appendix A - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 312 Second you can press “ OK” (acknowledging the error and clearing the message from the screen. (You must press “OK” to clear all error messages.) Error Message Electrical Appendix A - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 313 A detailed list of errors is obtained by moving the cursor to the catagory that you want and pressing ENTER. Error Log Appendix A - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 314: A3. Error Codes
Runchain opened by emergency stop. Emergency stop reset is required. Use the motors off button. 10014: System failure state......Chapter 2 Fatal non recoverable system error. Warm start is required. Electrical Appendix A - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 315 The program instance %.f can't restart the program server. 10044: Program PP updated The program instance %.f could have change the PP pos. 10045: System restarted Appendix A - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 316: A3.2 System Error Messages
Fatal non-recoverable system error. Warm start is required. Switch the mains switch OFF and ON again if the soft restart command is ignored or not possible to reach. Electrical Appendix A - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 317 One or several relative measurement axes are not synchronized. 20040: Hold stop 20041: Motor 1-6 overload......Chapter 9 20042: Motor 7-x overload......Chapter 9 Appendix A - 10 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 318 Not allowed in Motors On state. 20071: Not allowed command......Chapter 5 Not allowed while changing to Motors On state. Electrical Appendix A - 11 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 319 The teach pendant programming window has focus and is in control of the program server. Change to the production window and perform the command again. Appendix A - 12 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 320 20130: Out of memory in cfg 20131: Unable to read file......Chapter 3 20132: Unable to create file......Chapter 3 Electrical Appendix A - 13 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 321 Program execution error reset via System IO not allowed. 20150: Syncronization rejected....User's Guide Syncronization of mechanical unit via System IO not allowed. Appendix A - 14 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 322 For an action (signal) in Sysio, no restrictions are set. The total number of restrictions (signals) for an action in the cfg-file for Sysio is to high. Check: Electrical Appendix A - 15 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 323: A3.3 Hardware Error Messages
31125: Error in serial channel 7....Chapter 2 Received data not equal to transmitted data. 1. Check communication parameters 2. Replace robot computer board Appendix A - 16 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 324 Data transfer error to/from floppy. 31214: Floppy Disk Error......Chapter 3 Data transfer was interrupted. 31215: Floppy Disk Error......Chapter 3 Internal command invalid. Electrical Appendix A - 17 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 325 31227: Floppy Disk Error......Chapter 3 Bad floppy - Missing cylinder. 31228: Floppy Disk Error......Chapter 3 Bad floppy - Bad cylinder. Appendix A - 18 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 326 31410: Axis computer error......Chapter 2 Replace robot computer board. 31411: Axis computer error......Chapter 2 Replace robot computer board. Electrical Appendix A - 19 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 327 31601: Error HI PROM checksum: %.f....Chapter 2 Checksum should have been: %.f. Replace proms on robot computer board. Appendix A - 20 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 328 31705: Serial channel 8 overrun error ....Chapter 2 1. Check communication parameters 2. Replace robot computer board Electrical Appendix A - 21 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 329 31714: Serial channel 5 framing error .... User;'s guie 1. Check communication parameters 2. Replace robot computer board Appendix A - 22 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 330 Replace robot computer board. 31742: Serial channel 2 error.......Chapter 2 Handshake error. 31743: Serial channel 3 error.......Chapter 2 Handshake error. Electrical Appendix A - 23 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 331 Failure in X or Y resolver signal on channel %.f. Sum of squared X and Y exceeds max. Appendix A - 24 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 332 33155: Axis DSP RC Overflow......Chapter 2 Axis computer DSP was stopped with hw interrupt due to ring controller register overflow. Electrical Appendix A - 25 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 333 DMA access failed from main computer to axis computer. 33213: DMA Operation Error......Chapter 2 DMA Control Operation failed from Main computer to Axis computer. Appendix A - 26 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 334 33310: Error in axis computer.......Chapter 2 Replace robot computer board. 33311: Axis computer ........Chapter 2 Current ref. loopback error. Replace robot computer board. Electrical Appendix A - 27 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 335 37006: Main computer error......Chapter 2 Replace main computer board. 37007: Main computer error......Chapter 2 Replace main computer board. Appendix A - 28 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 336 37018: Main computer error......Chapter 2 Replace main computer board. 37019: Main computer error......Chapter 2 Replace main computer board. Electrical Appendix A - 29 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 337 37030: Main computer error......Chapter 2 Replace main computer board. 37031: Main computer error......Chapter 2 Replace main computer board. Appendix A - 30 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 338 37042: Main computer error......Chapter 2 Replace main computer board. 37043: Main computer error......Chapter 2 Replace main computer board. Electrical Appendix A - 31 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 339 Linearity error in X-Y signal difference on serial measurement board %.f. • System may still operate with warning • System will not function with error Appendix A - 32 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 340 39003: Drive System Error......Chapter 9 DC-link output voltage too high. 39004: Drive System Error......Chapter 9 DC-link voltage not valid. Electrical Appendix A - 33 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 341 Current too high on drive unit %.f. 39010: Drive System Error......Chapter 9 Temperature too high on drive unit %.f. Appendix A - 34 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 342: A3.4 Programming Error Messages
Reference to required parameter in optional argument. An argument corresponding to a required parameter must not be specified with the leading character. Electrical Appendix A - 35 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 343 Expressions contained within data declarations must be constant expressions. Make sure the expression does not contain any variable or persistent reference, or function call. Appendix A - 36 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 344 The only allowed type for the operands of the / , DIV and MOD operators is num. Check the type of the operand. Electrical Appendix A - 37 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 345 Make sure that the number of indices in the index list is the same as the number of dimensions of the indexed data array. Appendix A - 38 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 346 Global data must have names that are unique among all the global data, global routines and modules in the entire task program. Rename the data or change the conflicting name. Electrical Appendix A - 39 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 347 Operand types for binary + or - operator not equal. The two operands of the + and - operators must have equal type. Check the operand types. Appendix A - 40 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 348 The TEST instruction may only be applied to an expression of value or semi-value type. If comparisons are to be made, special type specific predefined functions are needed. Electrical Appendix A - 41 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 349 Place holder for initial value expression not allowed in definition of named variable. Complete the data declaration or change the data name to a place holder. Appendix A - 42 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 350 At least one other object sharing the same name as the referred trap is visible from this program position. Make sure that all object names fulfill the naming rules regarding uniqueness. Electrical Appendix A - 43 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 351 The specified name identifies an object other than a trap. Check if the desired trap is hidden by some other object with the same name. Appendix A - 44 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 352 Reference to unknown required parameter The called routine contains no required parameter (or other object) with the specified name. Electrical Appendix A - 45 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 353 Switch parameter cannot be dimensioned. Remove the array dimension specification, or change the data type of the parameter. Appendix A - 46 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 354 Declare data with the desired data type and aggregate value. Use the name of the data instead of the aggregate. Electrical Appendix A - 47 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 355 Cannot divide by 0. Rewrite the program so that the divide operation is not executed when the divisor is 0. Appendix A - 48 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 356 40149: Value error .......User's Guide Array index out of bounds. The array index value violates the declared size of the array. Electrical Appendix A - 49 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 357 There is a limited number of interrupt numbers available. Rewrite the program to use fewer interrupt numbers. This message may also occur as an consequence of a System error. Appendix A - 50 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 358 Is not possible to define an alias type equal to another alias type. Instead, define two alias types equal to the same atomic or record type. Electrical Appendix A - 51 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 359 Remove the array dimension specification, or change the parameter mode to VAR or IN. Appendix A - 52 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 360 All RAPID types must have a size that is a multiple of four. Change the specified type size. Electrical Appendix A - 53 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 361 40510: Security warning......User's Guide The move instruction can not restart due to security problem. Try to move the PP. Appendix A - 54 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 362 Argument Tool has undefined load of the too!. Define the actual load of the tool before use of the tool for jogging or program movement. Electrical Appendix A - 55 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 363 40613: Argument error ......User's Guide Option argument %s can only be combined with output signal argument %s. Appendix A - 56 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 364 40623: Argument error ......User's Guide The value of argument Time in ITimer is to low for single interrupts. Electrical Appendix A - 57 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 365 All signals should be defined in the system parameters and should not be defined in the RAPID program. Appendix A - 58 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 366: A3.5 Motion Error Messages
Joint %s is out of working range. Check: Use the joystick to move the joint into its working range. 50028: Jog in wrong direction Electrical Appendix A - 59 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 367 50041: The robot is too close to a singularity Check: During program execution, use SingArea instruction or joint interpolation. During jogging, use axis by axis. Appendix A - 60 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 368 Check: Change the tool coordinate system to achieve at least 3 degrees deviation between z-direction and path direction. Electrical Appendix A - 61 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 369 50078: Too many close positions Too many consecutive closely spaced positions. Check: Increase the distance between consecutive close positions. Appendix A - 62 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 370 The weaving period length or period time is too short. Check: Increase weave length or increase period time. Electrical Appendix A - 63 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 371 %s’intype’%s’instance’ %s’isnotnormalised.’ Check: Recalculate the orientation. 50104: Configuration error Only one of %s’intype’%s’instance’ %s’canbeused.’ Check: Use only one. Appendix A - 64 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 372 The robot has reached the limit for arm check point. Check: Use the joystick to move the involved joint into the working range again. Electrical Appendix A - 65 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 373 1. Move away from the singularity or run the program in joint coordinates 2. Use fine point or modify position 3. Try again 4. Reduce the programmed speed Appendix A - 66 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 374: A3.6 Operator Error Messages
Jogging cannot be done if the used tool has an undefined mass. Check: Enter a value for the mass, into the tooldata for the used tool. Electrical Appendix A - 67 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 375 No info is saved in Change Log about the parameter change because no space available on disk. Check: Try to delete files or reorganize your disk. Appendix A - 68 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 376: A3.7 I/O & Communication Error Messages
DescriptionReason: Signal %s: Logical Max is less or equal than Logical Min. Check: 1. Correct the values to be max greater than min Electrical Appendix A - 69 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 377 DescriptionReason: Number of digital output channels for board %s is greater than %d. Check: 1. Reduce the number of digital outputs Appendix A - 70 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 378 DescriptionReason: Signal: %s. Current value = %d < Minvalue = %d. Value set to Minvalue. Check: 1. Change physical min value in configuration Electrical Appendix A - 71 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 379 DescriptionReason: The number of digital inputs is out of range at board address %d max inputs are %d. Check: 1. Change the configuration for the board Appendix A - 72 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 380 DescriptionReason: Number of analog inputs for board, %s is greater than %d. Check: 1. Reduce the number of analog inputs Electrical Appendix A - 73 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 381 DescriptionReason: CantaccessRIOboarddueto’ communication with PLC is down. Check: 1. Check the communication cable to PLC 2. Check of if the PLC is switched off Appendix A - 74 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 382 APPENDIX B PARTS LISTS PARTS LISTS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 383 B2.3 Lower Arm ..........B-7 B2.4 Upper Arm ..........B-8 B2.5 Cables ............B-8 B2.6 Control ............B-9 Electrical Appendix B - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 384 Parts Lists NOTES Electrical Appendix B - 2 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 385: B. Parts Lists
Contains the floppy Floppy disk driver 3HAB 2480-1 disk driver Cable 3HAB 2759-1 Duty time counter 3HAA 3001-7 24V DC Electrical Appendix B - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 386: B1.3 Teach Pendant
3HAA 3573-AJA Rear plane VME AP32 DSQC 317 3HAB 2220-1 Memory, 6MB AP32 DSQC 321 3HAB 2236-1 Memory, 4MB Electrical Appendix B - 4 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 387: B1.6 Drive System
7820 004-3 Package with 3 External operator's panel 3HAB 2140-1 External axes board YB 560 103-BS DSQC 233 Electrical Appendix B - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 388: B1.8 Miscellaneous
3HAA 3560-NMA Customer cable, power 3HAA 3560-NSA Fan, transformer cooling 6480 096-5 24V DC Filter cartridge 3HAB 2780-1 Electrical Appendix B - 6 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 389: B2. Suggested Spare Parts List
B2.3 Lower Arm Part Number Description Robot Type Units 3HAB4216-001 Balancer, Type A, Standard 3HAB4218-001 Balancer, Type C, Shelf mount Electrical Appendix B - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 390: B2.4 Upper Arm
Lower Cable NO cust. conn. 3HAB4249-001 Lower Cable WITH cust. conn. 3HAB4253-001 Cable Upper Arm All except 2.25 Electrical Appendix B - 8 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 391: B2.6 Control
Filter, Air conditioner YB560103-BD Digital I/O Board DSQC 223 YB560103-CD Servo-Drive Unit DSQC 236G YB560103-CE Servo-Drive Unit DSQC 236T Electrical Appendix B - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 392 Parts Lists NOTES Electrical Appendix B - 10 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 393 APPENDIX C CONNECTORS & CONNECTORS & CABLES CABLES Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 394 Connectors & Cables Connectors & Cables Table of Contents Table of Contents CONNECTORS & CABLES......C-3 Robot Arm Cables ........C-3 Control Cabinet Cables ....... C-4 Miscellaneous Cables ........C-6 Signal Cable, Axis 1 ........C-7 Signal Cable, Axis 5 ........C-8 Power Cable, Axis 5 ........
Page 395: Connectors & Cables
Connectors & Cables NOTES Electrical Appendix C - 2 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 396: C1. Robot Arm Cables
Connectors & Cables C. C. CONNECTORS & CABLES CONNECTORS & CABLES Robot Arm Cables From: Component Connnector A ABB Cable No. Connector B To:Component SMB 1-2 R2.SMB1-2 (X-3) 3HAB4250-1 R3.FB1 Axis 1 Resolver Upper Cable Assy R3.FB5 3HAA0001-ABY R4.FB5 Axis 5 Resolver Upper Cable Assy R3.MP5...
Page 397: C2. Control Cabinet Cables
Connectors & Cables Control Cabinet Cables From: Connnector A ABB Cable No. Connector B Component Component Control Cabinet XS/XP8 3HAB 2830-5 Terminal Strip Control Cabinet XS/XP6 3HAA 3560-NUB XT6 XS/XP5 Control Panel SA.1 3HAA 3560-HRF AP80.X34 Back Plane SA.1 XP17 SA.3...
Page 398 Connectors & Cables Control Cabinet Cables (Cont) From: Component Connnector A ABB Cable No. Connector B To:Component Super. Contactor Brake Contactor Motor Contactor Motor Contactor XS22 Ext Axis Pwr Earth Super. Contactor Brake Contactor XS22 Ext Axis Pwr AP60.RV4 Varistor & Diode...
Page 399: C3. Miscellaneous Cables
AP80.X5 Data Ports Teach Pendant X1 3HAB 2103-7 X10.1 Teach Pendant Control Cabinet XS20 3HAA 3560-LXF XP20 Prog Unit Electrical Appendix C - 6 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 400: C4. Signal Cable, Axis 1
Connectors & Cables Signal Cable, Axis 1 3HAB-4250-1 Serial Measurement Board to Axis 1 Resolver R2.SMB1-2 (X3) R3.FB1 Signal/Description Signal/Description 0V EXC1 0V X1 0V Y1 EXC1 0V EXC1 0V Y1 EXC1 0V X1 Shield CONNECTOR TYPE DB-15 BR-8 R2.SMB 1-2 (x3) R3.FB1 Electrical...
Page 401: C5. Signal Cable, Axis 5
0V X5 0V Y5 EXC5 0V EXC5 0V Y5 EXC5 0V X5 Shield CONNECTOR TYPE DB-15 BR-8 R3.FB5 R4.FB5 Electrical Appendix C - 8 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 402: Power Cable, Axis 5
Connectors & Cables Power Cable, Axis 5 3HAA-0001-ABY Upper Arm Connector to Axis 5 Motor R3.MP5 R4.MP5 Signal/Description Signal/Description M5R1 M5R1 M5R2 M5R2 M5S1 M5S1 M5S2 M5S2 M5T1 M5T1 M5T2 M5T2 PTC M5 PTC M5 PTC M5 PTC M5 CONNECTOR TYPE BS-12 BR-12 R3.MP5...
Page 403: C7. Signal Cable, Axis 6
0V EXC6 EXC6 EXC6 0V Y6 0V Y6 0V X6 0V X6 CONNECTOR TYPE DB 15 DB-15 R4.FB6 R3.FB6 Electrical Appendix C - 10 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 404: C8. Power Cable, Axis 6
Connectors & Cables Power Cable, Axis 6 3HAA-0001-ACA Upper Arm Connector to Axis 6 Motor R3.MP6 R4.MP6 Pin Signal/Description Pin Signal/Description BS-6 PTC M6 R4.PTC6 PTC M6 Pin Signal/Description CONNECTOR TYPE BS-9 BS-2 PTC M6 PTC M6 R4.MP6 R3.MP6 R4.PTC6 Electrical Appendix C - 11 Troubleshooting Guide...
Page 405: C9. Signal Cable, Axis 2
0V X3 0V EXC3 EXC3 0V Y3 0V EXC3 EXC3 CONNECTOR TYPE DB-25 DB-15 R3.FB2 R2.SMB3 R2.SMB 1-4 (X4) Electrical Appendix C - 12 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 406: C10. Power Cable, Axis 2
Connectors & Cables C10. Power Cable, Axis 2 3HAB-4252-2 Lower Arm Connector to Axis 2 Motor R2.MP2 R3.MP2 Pin Signal/Description Signal/Description M2R1 M2R1 M2R2 M2R2 M2S1 M2S1 M2S2 M2S2 M2T1 M2T1 M2T2 M2T2 PTC M2 PTC M2 PTC M2 PTC M2 CONNECTOR TYPE BS-12 BR-12...
Page 407: C11. Signal Cable, Axis 3
0V X3 0V Y3 0V Y3 0V EXC3 0V EXC3 EXC3 EXC3 Shield CONNECTOR TYPE DB-15 BR-8 R3.MP2 R3.MP2 Electrical Appendix C - 14 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 408: C12. Power Cable, Axis 3
Connectors & Cables C12. Power Cable, Axis 3 3HAA-0001-ACD Lower Arm Connector to Axis 3 Motor R2.MP3 R3.MP3 Pin Signal/Description Pin Signal/Description M3R1 M3R1 M3R2 M3R2 M3S1 M3S1 M3S2 M3S2 M3T1 M3T1 M3T2 M3T2 PTC M3 PTC M3 PTC M3 PTC M3 CONNECTOR TYPE BS-12...
Page 409: C13. Control Cable, Signal
BATT+ BATT+ BATT BATT CONNECTOR TYPE BS-12 BR-12 XS15 XS16 XS13 XS1 4 XS11 XS1 2 XS10 R1.SMB Electrical Appendix C - 16 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 410: C14. Control Cable, Power
Connectors & Cables C14. Control Cable, Power 3HAB-2684-7 Cable runs from Control Cabinet to Robot Pin Signal/Description Pin Signal/Description Pin Signal/Description Pin Signal/Description OV PTC LIM B1 PTC 1 LIM A1 LIM B2 LIM A2 220C B.O.-N CONNECTOR TYPE B.O.-N OV BRAK OV BRAK AMP-64...
Page 411: C15. Customer Cable, Signal
Pin Signal/Description Pin Signal/Description CONNECTOR TYPE BR-23 BR-23 XS15 XS16 XS13 XS1 4 XS11 XS1 2 XS10 R1.CS Electrical Appendix C - 18 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 412: C16. Customer Cable, Power
Connectors & Cables C16. Customer Cable, Power 3HAA-3560-NNF Cable runs from Control Cabinet to Robot R1.CP Pin Signal/Description Pin Signal/Description CONNECTOR TYPE BR-19 BR-19 XS15 XS16 XS13 XS1 4 XS11 XS1 2 XS10 R1.CP Electrical Appendix C - 19 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ...
Page 413: C17. Lower Cable Assembly
BS-24 R2.FAN IS ON LEFT SIDE OF ROBOT R3.B U1-6 (R3.X8) R2.MP1 R 1.CP R2.MP2 R2.MP3 R2.MP4 R2.MP5-6 Electrical Appendix C - 20 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 414 Connectors & Cables Lower Cable Assembly (Cont) 3HAB-4249-2 Cable runs from Back of Robot through Base of Robot R1.SMB R2.SMB R1.CS R2.CS Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc SDI-N SDI-N SDO-N SDO-N BAT LD BAT LD +Batsup +Batsup J jumpered to E BR-12 DB-9...
Page 415: C18. Upper Cable Assembly
EXC2 EXC2 BS-24 PTC M PTC M6 DB-25 DB-25 R3.MP5 CONNECTOR TYPE R3.MP6 R3.FB4 BS-9 R2.SMB3-6 (X5) R2.MP5-6 Electrical Appendix C - 22 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 416 Connectors & Cables Upper Cable Assembly (Cont) 3HAB-4254-2 Cables run from Base Casting through Robot Arm R2.CS R3.CS R2.CP R3.CP Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc BR-12 BR-12 R3.CS R3.CP BR-23 BR-23 CONNECTOR TYPE R2.CS R2.CP Electrical Appendix C - 23 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ...
Page 417: C19. Cable, Customer Connection
Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc Pin Signal/Desc BR-12 Terminal CONNECTOR TYPE BR-12 Terminal CONNECTOR TYPE XS/XP5 XS/XP6 Electrical Appendix C - 24 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 418: C20. Cable, M94A
Connectors & Cables C20. Cable, M94A From Connector Type Description To Connector Type AP41.XS1 EDG96 PTC/M7A XS22 BS18 AP41.XS1 EDG96 SENS/1 AMP64 AP41.XS1 EDG96 SENS/2 AMP64 AP41.XS1 EDG96 SENS/3 AMP64 AP41.XS1 EDG96 0V/SENS AMP64 AP41.XS1 EDG96 AP80.X35 BS-24 AP41.XS1 EDG96 MAN/FS AP80.X35 BS-24...
Page 419 TERM. 24V/INT TM1.XT1 TERM. TERM. 24V/INT TERM. TERM. EXT/MON2A AMP64 TERM. EXT/MON2B AMP64 TERM. TERM. STBY/HOLD2 TERM. AP60.V3 Electrical Appendix C - 26 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 420 Connectors & Cables Cable, M94A (Cont) From Connector Type Description To Connector Type TERM. 24V/INT TERM. CHAIN1 TERM. TERM. TERM. TERM. TERM. TERM. TERM. TERM. TERM. TERM. 24V/ENABLE XS22 BSK18 TERM. EARTH TERM. TERM. STBY/HOLD1B TERM. TERM. B. REL/M7A XS22 BSK18 TERM.
Page 421 AMP64 AP1.XS1 DR-10 XS18 BS-28 LIMIT1 AP41.XS1 EDG-96 XS22 BSK18 LIMIT/1 XS22 BSK18 XS22 BSK18 LIMIT/1 XP18 BS18 Electrical Appendix C - 28 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 422 Connectors & Cables Cable, M94A (Cont) From Connector Type Description To Connector Type MOFF TERM. AMP64 STBY/HOLD2 AP60.V3 TERM. AMP64 MSTOP/1 AP80.X35 BS-24 AMP64 MSTOP/2 AP80.X35 BS-24 AMP64 GSTOP2B AMP64 AMP64 GSTOP1B AMP64 AMP64 ESTOP1 AMP64 AMP64 ESTOP2 AP80.X35 BS-24 AMP64 HOLD 1 AP41.XS1...
Page 423: C21. Cable, M94A Control Wiring X-Reference
TERM. AP60.V3 TERM. LIM 2 AMP64 AP60.V3 TERM. STBY/HOLD2 AMP64 AP80.X22 BS-2 D1.1 FIL-4 AP80.X22 BS-2 GS1.XS1 P-48 Electrical Appendix C - 30 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 424 Connectors & Cables Cable, M94A Control Wiring X-Reference (Cont) From Connector Type Description To Connector Type AP80.X34 BS-24 ES2C SA.4 TERM. AP80.X34 BS-24 ES1C SA.4 TERM. AP80.X34 BS-24 GSTOP1A SA.1 TERM. AP80.X34 BS-24 GSTOP2A SA.1 TERM. AP80.X34 BS-24 SA.3 TERM. AP80.X34 BS-24 ASTOP1...
Page 425 AMP64 TERM. TERM. TERM. TERM. BRAKE/REL MA AMP64 TERM. BRAKE/REL MA AMP64 TERM. BRAKE/BP AMP64 TERM. AP60.RV4 TERM. Electrical Appendix C - 32 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 426 Connectors & Cables Cable, M94A Control Wiring X-Reference (Cont) From Connector Type Description To Connector Type TERM. EARTH GS1.XS1 P-48 TERM. EARTH TERM. TERM. EARTH AMP64 TERM. EARTH AMP64 TERM. +24V/INT GS1.XS1 P-48 TERM. 0V/INT GS1.XS1 P-48 TERM. AP60.V1 TERM. SA.3 TERM.
Page 427 +24V / I/O GS1.XS1 P-48 AMP64 GS1.XS1 P-48 TERM. EXT/LIM 1 AMP64 TERM. EXT/LIM 2 AMP64 GROUND AMP64 Electrical Appendix C - 34 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 428: C22. Connectors
Connectors & Cables C22. Connectors D C B A A B C D BSK - 18 BS - 18 AMP - 64 DB - 25 FIL - 4 DB - 15 BS - 36 DB - 9 Electrical Appendix C - 35 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ...
Page 429 EDG - 96 10 12 14 16 18 20 22 24 26 28 30 P - 48 IDC - 34 Electrical Appendix C - 36 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 430 Connectors & Cables Connectors (Cont) BR - 23 BR - 19 BR - 8 BR - 12 Electrical Appendix C - 37 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 431 BS - 3 BS - 2 BS - 6 DR - 15 BS - 4 BS - 9 Electrical Appendix C - 38 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 432 Connectors & Cables NOTES Electrical Appendix C - 39 Troubleshooting Guide IRB-6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 433 Connectors & Cables NOTES Electrical Appendix C - 40 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 434 APPENDIX D GLOSSARY GLOSSARY Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 435 Any piece of control hardware providing a means of human intervention into the control of a robot or robot system, such as an emergency-stop button, a start button, or a selector switch. Electrical Page D - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 436 Page D - 2 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 437 INTERRUPT An event that temporarily interrupts program execution and executes a trap routine. Electrical Page D - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 438 Any portable control device, including teach pendants, that permit an operator to control the robot within the restrictive envelope of the robot. Page D - 4 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 439 REPAIR To restore robots and robot systems to operating condition after damage, malfunction, or wear. ROUTINE A subprogram. Electrical Page D - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 440 The generation and storage of a series of positional data points effected by moving the robot arm through a path of intended motions. Page D - 6 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 441 The spherical space that surrounds a fly-by point. As soon as the robot enters this zone it starts to move to the next position. Electrical Page D - 7 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 442 Glossary NOTES Page D - 8 Electrical Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 443 APPENDIX E CIRCUIT DIAGRAMS CIRCUIT DIAGRAMS Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 444 Connector Labeling ........ E-4 Component Labeling ......E-5 Sheet Referencing ........E-6 Relay Labeling ........E-7 Key Switch Contacts ......E-8 Electrical Appendix E - 1 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 445: Circuit Diagrams
Circuit Diagrams NOTES Electrical Appendix E - 2 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 446: Sheet Numbering
Number S h e e t D i a g r a m Latest Revision Number Number Level Electrical Appendix E - 3 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 447: Connector Labeling
XP - Pin side of a connector (male pin) SA - Switches "A" SB - Switches "B" TM - Transformer - Noise suppression device Electrical Appendix E - 4 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 448: Component Labeling
(X32 is on Back Plane.) "XP" is a connector, Pin Side "XS" is a connector, Socket Side "XP's" connect to "XS's" Electrical Appendix E - 5 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 449: Sheet Referencing
Reference to: Wires L12, L22 & L32 continue on sheets 10, line 19; 11, line 19; and 12, line 20. Electrical Appendix E - 6 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 450: Relay Labeling
Circuit Diagrams Relay Labeling The relays used in the robot are made by ABB. The labeling of these relays is shown below. When a relay terminal is described, (example: terminal 43) the two digit number is split into two separate level numbers.
Page 451: Key Switch Contacts
Manual Full Speed on Key Switch Terminal Number Auto Mode Center Key Position is the second set of contacts Electrical Appendix E - 8 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 452: E7. Symbols And Abbreviations
Positive Temperature Coefficient Resolver Battery Pack Brake Unit Feed-back Unit Serial Measurement Board Earth Ground Twisted Cables Screened Cables Electrical Appendix E - 9 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 453 Circuit Diagrams NOTES Electrical Appendix E - 10 Troubleshooting Guide IRB6400 M94A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 454 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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ABB IRB6400 Electrical Troubleshooting Manual

(Cont)

Table of Contents

Introduction

Identification

Maintenance

Tools

This Manual

Chapter Descriptions

D. Glossary

Appendices Descriptions

Signs and Symbols

1 Safety

2 Computer System

3 Loading System Software

4 Power on

5 Motor On/Dual Run Chain

Emergency Stop Circuitry

7 Power Unit

8 Brake Circuitry

Motor & Resolver Circuitry

Motor & Resolver Circuitry

Overview

Computer

Drive System Boards

Motors

Resolver

Serial Measurement Board (SMB)

10 Calibration Procedures

Error Messages

Connectors & Cables

C11. Signal Cable, Axis 3

C14. Control Cable, Power

Circuit Diagrams

Quick Links

Chapters

Related Manuals for ABB IRB6400

Summary of Contents for ABB IRB6400