Installation and Commissioning

Fault tracing guide1.2 Robot systemIn this instance the robot system means the entire robot (controller + manipulator) andprocess equipment.Errors can occur in the form of several different errors where it is difficult to localiseone particular error, i.e. where it is not possible to directly pinpoint the unit that causedthe problem. For example, if the system cannot be cold-started, this may be due to severaldifferent errors (the wrong diskette, a computer fault, etc.).1.3 Main computer DSQC 361 and memory board DSQC 323/324The main computer, which is connected to the VME bus and the local bus of the memoryboard, looks after the higher-level administrative work in the control system. Undernormal operating conditions, all diagnostic monitoring is controlled by the main computer.At start-up, irrespective of whether a cold or warm start is performed, the robotcomputer releases the main computer when the robot computer’s diagnostics allows itand, following this, the main computer takes over the control of the system. The readand write memories of the main computer are battery-backed.If the red LEDs on the main computer light up (or do not turn off at initialisation), eithera critical system failure has occurred or the main computer board or memory board isfaulty.The memory board is an extension of the main computer memory.The memory board has a LED, F, which is lit and turned off by the main computer.If there is a memory error on one of these boards, an error code will be shown on thedisplay, T1047 or T2010. These error codes also include a field called the At address,which in turn contains an hexadecimal code that indicates on which board the erroneousmemory circuit is located.When the error is in the main computer, the hexadecimal code is in the following range:0 X 000000 - 0 X 7FFFFFWhen the error is in the memory board, the code is above 0 X 800 000.4 Product Manual