Installation and Commissioning
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Installation and Commissioning

Installation and Commissioning Installation and Commissioning

rab.ict.pwr.wroc.pl
from rab.ict.pwr.wroc.pl More from this publisher
12.07.2015 Views

Troubleshooting ToolsMonitor Mode 2 -is a test condition in which a large number of tests can be run. A detailed description willbe found in Chapter 1.2.Under normal operating conditions, a number of test programs are run in the background.The operating system ensures that the tests can be run whenever there is a time slot.The background tests are not seen in normal circumstances, but will give an indicationwhen an error occurs.Flow Chart of Diagnostic SoftwarePower onINIT= PROM memory codeRESETWarm orcold start?WarmColdCold startRudimentaryRun PROM testsWarmWarm startRudimentarySystem bootSet start up modeWarmRelease systemI/OCOMPUTERStart up modeWarmSystem in operationMAINCOMPUTERSet flag for warm startResetOperatingmodeServicemode4 Product Manual

Troubleshooting Tools1.1 TestsMost of the internal robot tests are only run when the robot is cold started. All the testscan be run in Monitor Mode 2, as described in Chapter 1.2. Non destructive memory tests,checksum tests, etc., are only run when the robot is warm started.Cold start tests in consecutive order.IOC = Robot computerAXC = Robot computerMC = Main computerAt every “power on”, the IOC makes a destructive RWM test. If it fails, the IOC will flashthe NS and MS front LEDs and stop the program running.# T1504: IOC Red LED off# T1005: IOC Memory test (RWM) Non Destructive# T1018: IOC Battery test# T1053: IOC IOC->AXC Access test# T1062: IOC IOC->AXC AM test# T1067: IOC IOC->AXC Memory test (RWM)# T1068: IOC IOC->AXC Memory test (RWM) R6 Global# T1069: IOC IOC->AXC Memory test (RWM) DSP# T1070: IOC Enable AXC->IOC Interrupts# T1061: IOC IOC->AXC Load AXC# T3001: AXC RWM test Dist.# T3002: AXC R6 Global RWM test# T3003: AXC DSP Double access RWM test# T3004: AXC DSP Data RWM test# T3020: AXC VME interrupt test# T3023: AXC Test channels output test# T1071: IOC Disable AXC->IOC Interrupts# T1046: IOC IOC->MC Access test# T1048: IOC IOC->MC AM testProduct Manual 5

Troubleshooting ToolsMonitor Mode 2 -is a test condition in which a large number of tests can be run. A detailed description willbe found in Chapter 1.2.Under normal operating conditions, a number of test programs are run in the background.The operating system ensures that the tests can be run whenever there is a time slot.The background tests are not seen in normal circumstances, but will give an indicationwhen an error occurs.Flow Chart of Diagnostic SoftwarePower onINIT= PROM memory codeRESETWarm orcold start?WarmColdCold startRudimentaryRun PROM testsWarmWarm startRudimentarySystem bootSet start up modeWarmRelease systemI/OCOMPUTERStart up modeWarmSystem in operationMAINCOMPUTERSet flag for warm startResetOperatingmodeServicemode4 Product Manual

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