Installation and Commissioning
Installation and Commissioning Installation and Commissioning
Fault tracing guide1.6 Distributed I/OI/O units communicate with the I/O computer, located on the robot computer board, viathe CAN bus. To activate the I/O units they must be defined in the system parameters.The I/O channels can be read and activated from the I/O menu on the teach pendant.In the event of an error in the I/O communication to and from the robot, check as follows:1. Is I/O communication programmed in the current program?2. On the unit in question, the MS (Module status) and NS (Network status) LEDs mustbe lit with a fixed green colour. See the table below regarding other conditions:MS LED is: To indicate ActionOff No power Check 24 V CANGreenNormal conditionFlashing green Software configuration missing,Configure devicestandby stateFlashing red/green Device self testing Wait for test to becompletedFlashing red Minor fault (recoverable) Restart deviceRed Unrecoverable fault Replace deviceNS LED is: To indicate ActionOffNot powered/not on-lineFlashing green On-line, not connected Wait for connectionGreenRedOn-line, connections establishedCritical link failure, incapableof communicating (duplicateMAC ID, or bus-off)Change MAC ID and/or check CAN connection/cables3. Check that the current I/O signal has the desired status using the I/O menu on thetech pendant display.4. Check the I/O unit’s LED for the current input or output. If the output LED is not lit,check that the 24 V I/O power supply is OK.5. Check on all connectors and cabling from the I/O unit to the process connection.8 Product Manual
Fault tracing guide1.7 Serial CommunicationThe most common causes of errors in serial communication are faulty cables (e.g.mixed-up send and receive signals) and transfer rates (baud rates), or data widths thatare incorrectly set. If there is a problem, check the cables and the connected equipmentbefore doing anything else.The communication can be tested using the integral test-program, after strapping theinput to the output. See chapter 9.1.8 Drive System and MotorsThe drive system, which consists of rectifier, drive unit and motor, is controlled by theaxis computer, located on the robot computer board.ComputerRotor positionTorque referenceSerial measurementboardDC link Drive Unit M RFigure 1 A schematic description of the drive system.The drive system is equipped with internal error supervision. An error is sent on via therobot computer and can be read on the teach pendant display as an error message. Anexplanation of the available error messages can be found in the User’s Guide, Systemand error messages, section 3, error no. 39XXX.If a drive unit or rectifier is faulty, the unit should be replaced. Internal troubleshootingcannot be performed in the operating environment.Product Manual 9
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Fault tracing guide1.7 Serial CommunicationThe most common causes of errors in serial communication are faulty cables (e.g.mixed-up send <strong>and</strong> receive signals) <strong>and</strong> transfer rates (baud rates), or data widths thatare incorrectly set. If there is a problem, check the cables <strong>and</strong> the connected equipmentbefore doing anything else.The communication can be tested using the integral test-program, after strapping theinput to the output. See chapter 9.1.8 Drive System <strong>and</strong> MotorsThe drive system, which consists of rectifier, drive unit <strong>and</strong> motor, is controlled by theaxis computer, located on the robot computer board.ComputerRotor positionTorque referenceSerial measurementboardDC link Drive Unit M RFigure 1 A schematic description of the drive system.The drive system is equipped with internal error supervision. An error is sent on via therobot computer <strong>and</strong> can be read on the teach pendant display as an error message. Anexplanation of the available error messages can be found in the User’s Guide, System<strong>and</strong> error messages, section 3, error no. 39XXX.If a drive unit or rectifier is faulty, the unit should be replaced. Internal troubleshootingcannot be performed in the operating environment.Product Manual 9
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