ABB IRB 6400R, Product On-Line Manual

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Fault tracing guide
Product Manual 9
1.7 Serial Communication
The 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 that
are incorrectly set. If there is a problem, check the cables and the connected equipment
before doing anything else.
The communication can be tested using the integral test-program, after strapping the
input to the output. See chapter 9.
1.8 Drive System and Motors
The drive system, which consists of rectifier, drive unit and motor, is controlled by the
axis computer, located on the robot computer board.
Figure 1 A schematic description of the drive system.
The drive system is equipped with internal error supervision. An error is sent on via the
robot computer and can be read on the teach pendant display as an error message. An
explanation of the available error messages can be found in the User’s Guide, System
and error messages, section 3, error no. 39XXX.
If a drive unit or rectifier is faulty, the unit should be replaced. Internal troubleshooting
cannot be performed in the operating environment.
Computer
DC link
Drive Unit
M R
Serial measurement
board
Torque reference
Rotor position