Installation and Commissioning
Installation and Commissioning Installation and Commissioning
Troubleshooting Tools3 Measuring Points3.1 Back planeThe backplane contains a maintenance plug (X9) for signals that are hard to reach. Other signalsare measured at their respective connection points, which can come in very handy whentroubleshooting (see Figure 1).SIO1 and SIO 2 can also be D-sub contacts,both variants will exist.Serial portsSIO 1 RS 232SIO2 RS 422alt.Battery 1 2Test points X5-X8Maintenanceplug, X9CAN3 (ext. I/O)CAN2 (manip. I/O)CAN1 (panel unit)Drive units,X14 (ext. axes)Disk drive- data- supplySerial meas.board 2, X12(ext. axes)Accessible fromcabinet topS1 = INIT buttonS2 = TEST buttonAccessible bycabinet doorDrive units,X22(manipulator)Serial meas.board 1, X23(manipulator)Power supplyPower contact can also bea 15-pole contact,both variant will exsistFigure 1 Back plane30 Product Manual
Troubleshooting Tools3.2 Signal description, RS 232 and RS 422RS 232SignalTXDRXDDSRDTRCTSRTSExplanationTransmit DataReceive DataData Set ReadyData Terminal ReadyClear To SendRequest To SendStop bit (“1”)Start bit (“0”)10 V0 VByte 1 Byte 2f=9600/19200 baudFigure 2 Signal description for RS 232.The transmission pattern can be single or bursts of 10 bit words, with one start bit “0”,eight data bits (MSB first) and lastly one stop bit “1”.Product Manual 31
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- Page 293 and 294: MaintenanceCONTENTSPage1 Maintenanc
- Page 295 and 296: MaintenanceMaintenanceThe robot is
- Page 297 and 298: Maintenance2.3 Lubricating spring b
- Page 299 and 300: Maintenance2.7 Changing the battery
- Page 301 and 302: Troubleshooting ToolsCONTENTSPage1
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- Page 315 and 316: Troubleshooting Tools2.3 Main compu
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- Page 319 and 320: Troubleshooting Tools2.7 Panel unit
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- Page 335 and 336: Troubleshooting Tools3.4.2 X9 VBATT
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- Page 339 and 340: Troubleshooting Tools3.4.7 CANX9Pin
- Page 341 and 342: Fault tracing guideCONTENTSPage1 Fa
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- Page 355 and 356: RepairsCONTENTSPage7.3 Changing the
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Troubleshooting Tools3.2 Signal description, RS 232 <strong>and</strong> RS 422RS 232SignalTXDRXDDSRDTRCTSRTSExplanationTransmit DataReceive DataData Set ReadyData Terminal ReadyClear To SendRequest To SendStop bit (“1”)Start bit (“0”)10 V0 VByte 1 Byte 2f=9600/19200 baudFigure 2 Signal description for RS 232.The transmission pattern can be single or bursts of 10 bit words, with one start bit “0”,eight data bits (MSB first) <strong>and</strong> lastly one stop bit “1”.Product Manual 31
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