Installation and Commissioning

Troubleshooting ToolsTroubleshooting ToolsGenerally speaking, troubleshooting should be carried out as follows:• Read any error messages shown on the teach pendant display.What these messages mean is described in System and Error Messages.• Check the LEDs on the units. See Indication LEDs on the Various Units page 14.• Switch the power off and then on. When the robot is started up, a self diagnostic isrun which detects any errors. The tests performed during the self diagnostic aredescribed in the chapter Diagnostics page 3.• Check the cables, etc., with the help of the circuit diagram.1 DiagnosticsThe control system is supplied with diagnostic software to facilitate troubleshootingand to reduce downtime. Any errors detected by the diagnostics are displayed in plainlanguage with an code number on the display of the teach pendant.All system and error messages are logged in a common log which contains the last 50messages saved. This enables an “error audit trail” to be made which can be analysed.The log can be accessed from the Service window using the teach pendant during normaloperation and can be used to read or delete the logs. All system and error messagesavailable are listed in User’s Guide.The diagnostic programs are stored in flash PROM on the robot computer board. The diagnosticprograms are executed by the I/O computer.The control system runs through various tests depending on the start up mode:Cold Start -Cold starts occur normally only when the control system is started the first time, or whenany computer board has been replaced, or when the batteries have been disconnected.First, the test programs are executed by the robot computer (I/O computer) and themain computer. These tests and the test results are displayed on the teach pendant. Ifthe tests do not indicate any errors, a message will appear on the display, requestingyou to insert a system diskette into the disk drive. If, however, the diagnostics detectan error, a message will appear on the display and the test will be stopped until the userhits a key on the teach pendant or on a terminal connected to the front connector on therobot computer.Warm Start -is the normal type of start up when the robot is powered on. During a warm start, only asubset of the test program is executed. These tests and the test results are displayed on theteach pendant.Another type of warm start, INIT, is carried out via a push button located on the backplane(see section 3). INIT is very similar to switching the power on. The tests that arerun depend on whether or not the system is booted.Product Manual 3