Installation and Commissioning

Fault tracing guide1.9 Teach PendantThe teach pendant communicates with the robot computer via a cable. This cable is alsoused for the +24 V supply and the dual operation chain.If the display is not illuminated, try first adjusting the contrast, and if this does not helpcheck the 24 V power supply.Communication errors between the teach pendant and the I/O computer are indicatedby an error message on the teach pendant.For measuring points for the teach pendant communication signals, see chapter 9.1.10 Measurement SystemThe measurement system comprises an axis computer, one or more serial measurementboards and resolvers. The serial measurement board is used to collect resolver data. Theboard is supplied from 24 V SYS via a fuse on the back plane. The board is located inthe manipulator and is battery-backed. Communication with the axis computer takesplace across a differential serial link (RS 485).The measurement system contains information on the position of the axes and thisinformation is continuously updated during operation. If the resolver connections aredisconnected or if the battery goes dead after the robot has been stationary for a longperiod of time, the manipulator’s axis positions will not be stored and must be updated.The axis positions are updated by manually jogging the manipulator to the synchronisedposition and then, using the teach pendant, setting the counters to zero. If you tryto start program execution without doing the above, the system will give an alarm toindicate that the system is not calibrated.Measuring points for the measurement system are located on the backplane, X9 Maintenanceplug, see chapter 9 for more detailed information.Note that it is necessary to re-calibrate after the resolver lines have beendisconnected. This applies even if the manipulator axes have not been moved.Transmission errors are detected by the system’s error control, which alerts and stopsprogram execution if necessary.Common causes of errors in the measurement system are line breakdown, resolvererrors and measurement board interference. The latter type of error relates to the 7thaxis, which has its own measurement board. If it is positioned too close to a source ofinterference, there is a risk of an error.10 Product Manual