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

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

Fault tracing guide1.4 Robot computer DSQC 363The robot computer, which controls the system’s I/O, axis control, serial communicationand teach pendant communication, is the first unit to start after a cold or warmstart. The red LED on the front of the board goes off immediately when the system isreset and goes on again if an error is detected in the tests. As mentioned above, therobot computer releases the main computer when the preliminary diagnostics havegiven the go ahead-signal.The read and write memories of the robot computer are battery-backed.If the system does not start at all, and the LED on the robot computer goes on, the erroris probably in the robot computer.1.5 Panel unit DSQC 331The DSQC 331 Panel unit controls and monitors the dual operation chain. Its status isalso indicated by LEDs at the upper part of the unit.Over temperature of the motors is monitored by PTC inputs to the board.LED indications for DSQC 331Marking Colour MeaningEN Green Indicates “go ahead” from the control systemMSNSES 1 and 2GS 1 and 2AS 1 and 2Green/redGreen/redYellowYellowYellowModule status, normally green, see also section 1.6Network status, normally green, see also section 1.6EMERGENCY STOP, chain 1 and 2 closedGENERAL STOP switch, chain 1 and 2 closedAUTO STOP switch, chain 1 and 2 closedThe LEDs are very useful when trying to locate errors in the operation chain. UnlitLEDs indicate the whereabouts of an error in the operation chain, making the error easyto locate in the system circuit diagram.Product Manual 5

Fault tracing guide1.4 Robot computer DSQC 363The robot computer, which controls the system’s I/O, axis control, serial communication<strong>and</strong> teach pendant communication, is the first unit to start after a cold or warmstart. The red LED on the front of the board goes off immediately when the system isreset <strong>and</strong> goes on again if an error is detected in the tests. As mentioned above, therobot computer releases the main computer when the preliminary diagnostics havegiven the go ahead-signal.The read <strong>and</strong> write memories of the robot computer are battery-backed.If the system does not start at all, <strong>and</strong> the LED on the robot computer goes on, the erroris probably in the robot computer.1.5 Panel unit DSQC 331The DSQC 331 Panel unit controls <strong>and</strong> monitors the dual operation chain. Its status isalso indicated by LEDs at the upper part of the unit.Over temperature of the motors is monitored by PTC inputs to the board.LED indications for DSQC 331Marking Colour MeaningEN Green Indicates “go ahead” from the control systemMSNSES 1 <strong>and</strong> 2GS 1 <strong>and</strong> 2AS 1 <strong>and</strong> 2Green/redGreen/redYellowYellowYellowModule status, normally green, see also section 1.6Network status, normally green, see also section 1.6EMERGENCY STOP, chain 1 <strong>and</strong> 2 closedGENERAL STOP switch, chain 1 <strong>and</strong> 2 closedAUTO STOP switch, chain 1 <strong>and</strong> 2 closedThe LEDs are very useful when trying to locate errors in the operation chain. UnlitLEDs indicate the whereabouts of an error in the operation chain, making the error easyto locate in the system circuit diagram.Product Manual 5

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