Installation and Commissioning

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Troubleshooting Tools3.4.4 Measuring systemThe signal interface with the serial measuring system. It complies with the EIA RS 422st<strong>and</strong>ard, which means that signal transmission is differential, see 3.2 (Figure 3).X9Pin A C20 0V21 MRCI1 MRCI1 N22 MRCO1 MRCO1 N23 MRCI2 MRCI2 N24 MRCO2 MRCO2 NThe MRCO signals travel from the robot computer to the measuring boards.The MRCI signals enter the robot computer from the measuring boards.MRCI1/MRCO1 signals are connected to the IRB axes (backplane connector X23,see 3.1).MRCI2/MRCO2 are used for external axes (backplane connector X12, see 3.1).36 Product Manual
Troubleshooting Tools3.4.5 Disk driveThe signal interface with the disk drive; TTL levels “0” 0V, “1” +5V.X9Pin A Explanation9 RD N Read Data, pulses. Data pulses when reading the diskette10 WP N Write Protect, static active low. Indicates whether ornot the diskette is write protected.11 DSKCHG N Disk Change, static active low. Indicates whether ornot there is a diskette in the unit.12 WD N Write Data, pulses. Data pulses when writing to thediskette.13 SSO N Side Select, static active low. Indicates which side ofthe diskette is active.14 DIRC N Direction in, static active low. Indicates that theheads are to move inwards.15 0VX9Pin C Explanation9 IP N Index, pulses. One pulse per cycle, c. every 200 milliseconds.10 TR00 N Track 00, active low. Indicates that the heads arelocated at track 0 of the diskette.11 MO N Motor on, static low. Starts the motor in the selectedunit.12 WG N Write Gate, pulses. Enables writing.13 STEP N Step, pulses. Steps the heads in the direction indicatedby DIRC N.14 HD N High Density, static active low. Indicates that a 1.44MB diskette is in the unit.15 0VProduct Manual 37
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3HAC 2914-1M98Product On-line Manua
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ABB Flexible Automation ABProduct M
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IntroductionCONTENTSPage1 How to us
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IntroductionIntroduction1 How to us
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Introduction.ABB Robotics Products
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Product Specification IRB 1400CONTE
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Introduction1 IntroductionThank you
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Description2 Description2.1 Structu
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DescriptionRestricting the working
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DescriptionUsing a key switch, the
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DescriptionEditing programsPrograms
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DescriptionThe robot has several fu
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DescriptionMotion performanceThe Qu
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Description2.9 External AxesThe rob
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Technical specification3 Technical
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Technical specification150667398475
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Technical specification3.3 Operatio
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Technical specificationProgram star
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Technical specificationMounting of
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Technical specificationWHILE Repeat
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Technical specificationATan/ATan2Co
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Technical specification3.8 Robot Mo
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Technical specificationPerformance
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Technical specification3.10 Inputs
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Technical specificationDigital outp
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Technical specification3.11 Communi
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Specification of Variants and Optio
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Accessories5 AccessoriesThere is a
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Product Specification RobotWareCONT
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Introduction1 IntroductionRobotWare
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Rapid Language and Environment2 Bas
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Motion Control2.3 Motion ControlTru
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Safety2.4 SafetyMany safety concept
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Advanced Functions 3.13 BaseWare Op
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Advanced Functions 3.1World ZonesA
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Advanced Functions 3.1RAPID instruc
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Advanced Motion 3.1Contour tracking
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Multitasking 3.13.3 Multitasking 3.
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FactoryWare Interface 3.1Examples o
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Ethernet Services 3.13.6 Ethernet S
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ScreenViewer 3.13.8 ScreenViewer 3.
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Conveyor Tracking 3.13.9 Conveyor T
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ArcWare 3.14 ProcessWare4.1 ArcWare
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ArcWare 3.1Analog inputs (cont.)Vol
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SpotWare 3.14.3 SpotWare 3.1SpotWar
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SpotWare 3.1manual close gunmanual
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SpotWare Plus 3.14.4 SpotWare Plus
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GlueWare 3.1Interface signalsWhen i
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PaintWare 3.1RAPID instructions inc
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ProductsAny number of different pro
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Available memory5 Memory and Docume
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DeskWare Office 3.06 DeskWare6.1 De
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DeskWare Office 3.0The “User Pref
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Programming Station 3.0Editing of b
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Programming Station 3.0• Products
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Programming Station 3.0Output from
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Training Center 3.0PC System Requir
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Library 3.0ServiceLog allows the us
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Robot Lab 3.0Cycle TimeClock contro
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RobComm 3.07 FactoryWare7.1 RobComm
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RobComm 3.0Following is a brief des
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RobView 3.17.2 RobView 3.1RobView i
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RobView 3.1File managerWhen the use
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RobView 3.1In addition, also a butt
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RobView 3.1Technical specificationP
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DDE Server 2.3SCWriteThe user can a
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DDE Server 2.3DDE Server for multip
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SafetyCONTENTSPage1 General........
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SafetySafety1 GeneralThis informati
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Safety5 Safe Working ProceduresSafe
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Safety7.2 Emergency stopsAn emergen
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SafetyWhen the Hold-to-run control
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Safety8.2 Tools/workpiecesIt must b
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Safety- The external voltage connec
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To the User“Declaration by the ma
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System DescriptionCONTENTSPage1 Str
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System DescriptionStructure1 Struct
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System DescriptionStructureAxis 3Up
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System DescriptionStructure1.2 Cont
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System DescriptionStructureLithium
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System DescriptionComputer System2
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System DescriptionServo System3 Ser
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System DescriptionI/O System4 I/O S
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System DescriptionSafety System5 Sa
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System DescriptionSafety System5.4
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System DescriptionExternal Axes6 Ex
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Installation and CommissioningCONTE
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Installation and CommissioningCONTE
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Installation and CommissioningTrans
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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
Page 303 and 304: Troubleshooting ToolsTroubleshootin
Page 305 and 306: Troubleshooting Tools1.1 TestsMost
Page 307 and 308: Troubleshooting Tools1.2.1 Entering
Page 309 and 310: Troubleshooting Tools5. MC/ERWM RWM
Page 311 and 312: Troubleshooting Tools5. Miscellaneo
Page 313 and 314: Troubleshooting Tools9. Specific te
Page 315 and 316: Troubleshooting Tools2.3 Main compu
Page 317 and 318: Troubleshooting Tools2.6 Power supp
Page 319 and 320: Troubleshooting Tools2.7 Panel unit
Page 321 and 322: Troubleshooting Tools2.9 Analog I/O
Page 323 and 324: Troubleshooting Tools2.11 Interbus-
Page 325 and 326: Troubleshooting Tools2.13 Encoder i
Page 327 and 328: Troubleshooting Tools2.14 Status LE
Page 329 and 330: Troubleshooting ToolsModule- and ne
Page 331 and 332: Troubleshooting Tools3.2 Signal des
Page 333 and 334: Troubleshooting Tools3.3 X1 and X2
Page 335: Troubleshooting Tools3.4.2 X9 VBATT
Page 339 and 340: Troubleshooting Tools3.4.7 CANX9Pin
Page 341 and 342: Fault tracing guideCONTENTSPage1 Fa
Page 343 and 344: Fault tracing guide1 Fault tracing
Page 345 and 346: Fault tracing guide1.4 Robot comput
Page 347 and 348: Fault tracing guideInputs DINameAS1
Page 349 and 350: Fault tracing guide1.7 Serial Commu
Page 351 and 352: Fault tracing guide1.11 Disk DriveT
Page 353 and 354: ABB Flexible Automation ABThis chap
Page 355 and 356: RepairsCONTENTSPage7.3 Changing the
Page 357 and 358: General DescriptionRepairsAxis 1 ro
Page 359 and 360: General DescriptionRepairs1.2 Cauti
Page 361 and 362: General DescriptionRepairs12. The s
Page 363 and 364: General DescriptionRepairs1.5 Tight
Page 365 and 366: Axis 1Repairs2.2 Changing the gearb
Page 367 and 368: Axis 1Repairs2.4 Replacing the mech
Page 369 and 370: Axis 2 Repairs3.2 Changing the gear
Page 371 and 372: Axis 2 Repairs3.5 Dismantling the b
Page 373 and 374: Axis 3Repairs4.2 Changing the gearb
Page 375 and 376: Axis 3Repairs4.5 Dismantling the co
Page 377 and 378: Axis 3Repairs105 oFigure 4 Calibrai
Page 379 and 380: Axis 4 Repairs14. Connect the cabli
Page 381 and 382: Axis 4 RepairsTo assemble:Shim betw
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Page 385 and 386: Cabling and Serial Measuring boardR
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The Wrist and Axes 5 and 6Repairs7.
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The Wrist and Axes 5 and 6RepairsAx
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Motor UnitsRepairs38 Product Manual
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CalibrationRepairs5. Press Enter .6
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CalibrationRepairs13. Release the b
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CalibrationRepairsCalibration plate
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CalibrationRepairs2. Select Service
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CalibrationRepairs.Figure 17 Calibr
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CalibrationRepairs1. Run the calibr
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CalibrationRepairs52 Product Manual
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