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Содержание IRB6400

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...USTRIAL ROBOT S4 CONTROL SYSTEM Effective Date December 1 1995 FlexibleAutomationInc 1250 Brown Road Auburn Hills Mich 48326 810 391 9000 Manual Part 7000722 Artisan Technology Group Quality Instrumen...

Страница 3: ...al or consequential damages arising from the use of this document of the software and hardware described in this document The material in this document and must not be reproduced or copied in whole or...

Страница 4: ...tem Description 2 4 Diagram 2 2 Block Diagram 2 5 2 3 Troubleshooting 2 6 2 3 1 General 2 6 2 3 2 Diagnostics 2 8 2 4 Board Descriptions 2 10 2 4 1 Robot Computer DSQC 326 2 11 2 4 2 Main Computer DSQ...

Страница 5: ...binet 4 23 Figure 4 2 Inside Swing Gate 4 25 Figure 4 3 Brake Push Buttons 4 27 Figure 4 4 Customer Connection XS3 XT3 4 29 Figure 4 5 Operator s Panel 4 31 5 Motor ON Dual Run Chain 5 3 5 1 Overview...

Страница 6: ...f Circuit Diagrams 6 11 6 7 Component Location Figures 6 15 Figure 6 1 Teach Pendant 6 15 Figure 6 2 Computer System System Board 6 17 Figure 6 3 Back Plane AP80 6 19 Figure 6 4 Operator s Panel 6 21...

Страница 7: ...ver Coil Relationships 9 12 9 6 Serial Measurement Board SMB 9 13 9 7 Component Cross Reference 9 15 9 8 List of Circuit Diagrams 9 17 9 9 Component Location Figures 9 31 Figure 9 1 Back Plane AP80 9...

Страница 8: ...2 A2 Types of Error Messages A 3 A3 Error Codes A 7 A3 1 Operational Error Messages A 7 A3 2 System Error Messages A 9 A3 3 Hardware Error Messages A 16 A3 4 Programming Error Messages A 35 A3 5 Moti...

Страница 9: ...ignal C 18 C16 Customer Cable Power C 19 C17 Lower Cable Assembly C 20 C18 Upper Cable Assembly C 22 C19 Cable Customer Connection C 24 C20 Cable M94A C 25 C21 Cable M94A Control Wiring X Reference C...

Страница 10: ...perienced electricians only The robot owner user is responsible for the training of personnel to safely and successfully service the IRB6400 Industrial Robot The data contained in this manual was orig...

Страница 11: ...Hz 6 7 kVA RXXX XXXX A 31023 300 kg Type 6400 2 4 120 ABB Flexible Automation Label with manufacturing number 6400 M94A 6400 XXXX Label with type Figure 3 Label on a system diskette S4 M94A program Pr...

Страница 12: ...range yellow colored cables may be live The reason for this is that these cables are connected to external equipment and are consequently not affected by the main switch on the controller Circuitboard...

Страница 13: ...Hex bits 4 5 6 7 8 10 mm 3 8 drive Bondus Balldriver Set Metric 3pc Plier Set Industrial Screwdriver Set 8pc Electricians Knife 8 Adjustable Wrench 3 Adjustable Wrench Pick up Tool Magnetic Telescopic...

Страница 14: ...g knowledge of the system operations and basic programming skills Ifaproblemoccurs 1 Check for errors This is done by use of the error log which is explained in Appendix A Error Messages 2 Gototheappr...

Страница 15: ...al Run Chain circuits and how to troubleshoot the Dual Run Chain circuit 6 E STOP Describes the circuits used in the Emergency Stop circuits of the system 7 POWERUNIT Describes the circuits of the Pow...

Страница 16: ...B PARTSLISTS Contains a list of parts for the Control Cabinet and a recommended list of spare parts C CONNECTORS CABLES Shows the location of all the cables in the system D GLOSSARY Explanation of var...

Страница 17: ...r helpful information to make a job easier E STOP This symbol is used to emphasize danger The step should be taken with extreme care SHEET This is used to tell the reader which Circuit Diagram Sheet t...

Страница 18: ...CHAPTER 1 SAFETY SAFETY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 19: ...ty Features 1 5 1 3 Safety Guidelines 1 6 1 4 Safety During Maintenance 1 8 1 5 Safety During Programming 1 8 1 6 Safety Control Chain of Operation 1 9 1 7 Risks Associated with Live Parts 1 11 1 8 Li...

Страница 20: ...Electrical TroubleshootingGuide IRB6400M94A Page 1 2 Safety NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 21: ...SHINGTON D C Read all safety precautions before operating the robot Failure to follow safety instructions may result in personal injury and or damage to machine components The information in this manu...

Страница 22: ...oached with the same caution as any other industrial machine Although ABB robots are designed for the greatest possible safety no machine is completely safe and it is impossible to entirely eliminate...

Страница 23: ...be used to connect external safety equipment such as safety gates and light curtains This allows the robot s safety functions to be activated both by peripheral equipment and by the robot itself Dela...

Страница 24: ...orce even when moving slowly Be aware that when the system is in the RUN mode the robot may begin to move unexpectedly at any time without warning A robot program contains many instructions that contr...

Страница 25: ...rom the robot s motors and the brakes are applied Keep program execution to a minimum and return to MOTORS OFF as soon as possible Select Manual Reduced Speed with the operation mode selector switch o...

Страница 26: ...stop the robot with any body part or makeshift device Removal or loss of air pressure may result in moving mechanisms Appropriate precautions must be taken to prevent equipment damage or personal inj...

Страница 27: ...hat power is supplied to the motors The electrical safety chains are continuously monitored and the robot reverts to the MOTORS OFF mode when a fault is detected by the computer MOTORS OFF mode means...

Страница 28: ...Cabinet If any contact in the safety chain of operation is open the robot always reverts to theMOTORS OFF mode After a stop the switch must be reset at the specific unit which caused the stop After r...

Страница 29: ...or the machining process The external voltage connected to the control cabinet remains live even when the robot is disconnected from the mains Additional connections Manipulator A danger of high volta...

Страница 30: ...es IRB 6400 Product Manual Chapter 7 Installation and Commissioning ABB Part 3HAB 0009 55 Changingrobotmodes Basic Operation Manual Chapter3 Operators sPanel ABB Part 3HAB 0002 30 Limitingtheworkingsp...

Страница 31: ...CHAPTER 2 COMPUTER COMPUTER SYSTEM SYSTEM Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 32: ...21 4Mb 2 13 2 4 4 Power Supply Unit DSQC 258 2 14 2 4 5 System Board DSQC 256A 2 15 2 4 6 Digital I O Board DSQC 223 2 17 2 4 7 Combined I O Board DSQC 315 2 18 2 4 8 Analog I O Board DSQC 209 2 19 2...

Страница 33: ...Electrical TroubleshootingGuide IRB6400M94A Page 2 2 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 34: ...be explained along with a description of each individual board in the system Alsodescribedinthischapterwillbetroubleshootingprocedures Diagram 2 1 shows the computer system and the boards in the compu...

Страница 35: ...ircuitscontained on it It contains both of the Run Chain circuits and also Motor Temperature circuits Also contained on this board are the sensor inputs Power Supply The power supply provides the DC v...

Страница 36: ...21 ROBOT COMPUTER DSQC 326 Serial Measurement Board SMB Resolver Motor PWM Drive System I O Boards I O Computer Servo Computer Back Plane DSQC 317 6 MB DSQC 321 4 MB EPROM Teach Pendant Printer Disk D...

Страница 37: ...thespecialstaticfreebagthatcomeswitheachcontroller first If this procedure is not followed every time a board is handled damageWILL be done to the board even if no apparent damage is evident Neverremo...

Страница 38: ...risoperating Thisisnoticedbycheckingfor the welcome display on the teach pendant and checking for the EN LED on the system board If a problem exists here check error code or check for LED indications...

Страница 39: ...each Pendant as they are executed If a problem is found an error message will be displayed explaining the problem A loss of memory can be caused by the removal of the Main Robot or Memory boards Memor...

Страница 40: ...at the environmental conditions that exist very hot or cold or is the robot getting wet and operations occurring at the same time the robot is having the problem Such as heavy machinery nearby or radi...

Страница 41: ...nual each computer board in the system is described With each description is a picture of the board and a description of the diagnostic LED s on that board and any procedures that must be performed if...

Страница 42: ...uter are battery backed If the system does not start at all and the LED on the robot computer goes ON the error is probably in the robot computer but may also be caused for other reasons indicated by...

Страница 43: ...aincomputer takes over control of the system The read and write memories of the main computer are battery backed If the red LEDs on the main computer light up or do not go off at the initialization ei...

Страница 44: ...us the upper connector namely VSYSRESET N The board has an LED F which is lit and turned OFF by the main computer If the LED is lit the board probably has a fault It is not possible to carry out diagn...

Страница 45: ...can be checked with a digital multimeter Therearenodedicatedtestpointsforthese voltages However the following are suggested places to check these voltage levels Voltage Checkpoint 5 VDC Back of power...

Страница 46: ...automaticmodesafeguard stop AS are closed MS Yellow TurnsONwhentheRunChain 1enablingdeviceontheteach pendant is pressed halfway and the circuits up to and including the manual mode safeguard stop MS a...

Страница 47: ...otorsgetsextremelyhot this resistance will go high For troubleshooting procedures refer to the Motors ON chapter in this manual If replaced there are no adjustments or procedures required Sheet 7 Shee...

Страница 48: ...output is activated The inputs and outputs normally receive their 24VDC supply from a customer connection but this can also be supplied internally XS3 XT3 terminals A15 B15 A16 B16 C16 If none of the...

Страница 49: ...CH1 0 10V terminal 2 Measuring CH2 0 10V terminal 0V Measuring 0V The combined I O DSQC 315 is equipped with 16 digital inputs 16 digital outputs see DSQC 223 page 2 17 and 2 analog outputs 1 10V see...

Страница 50: ...ut outputon the front panel and a test switch which can be used to test whether the board is working properly By turning the test switch to the position for measuring inputs a power supply can be conn...

Страница 51: ...d Incorrect wiring Host processor fault ON OFFBLINK Bad Communication probable cause Host Processor in Program mode Reversed connections The serial I O interface DSQC 239 RIO is intended to be used fo...

Страница 52: ...nd customer specific external axes The board is controlled by the axis computer via a serial bus on the backplane and can handle six axes Connections Resolvers and tachometers Resolver supply with pro...

Страница 53: ...e the Serial Data Out SDO and the Serial Data In SDI Another signal to check would be the exciter signal going to the resolvers Use the Oscilloscope to check for proper amplitudes and ensure that ther...

Страница 54: ...computer are indicated by error messages on the teach pendant and also when the red LED on the robot computer lights up The backplane has test points for the teach pendant signals X32 TEACH PENDANT I...

Страница 55: ...heet 14 2 4 I O boards Computer system center Sheet 18 23 2 4 PWM drive Swing gate top Sheet 12 2 4 Serial measurement board Robot front Sheet 13 1 104 2 3 Teach pendant Cabinet front Sheet 7 8 2 5 Wr...

Страница 56: ...RT OF COMBI I O I P PART 19 4 of 43 10 DIGITAL I O BOARD INPUT PART 19 5 of 43 11 DIG COMBI DIG I O BD O P PART 20 1 of 43 12 RELAY UNIT OUTPUT 1 8 20 2 of 43 13 RELAY UNIT OUTPUT 9 16 20 3 of 43 14 1...

Страница 57: ...Electrical TroubleshootingGuide IRB6400M94A Page 2 26 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 58: ...ubleshootingGuide IRB6400M94A Figure 2 1 Control Cabinet 2 9 ComponentLocationFigures WRIST STRAP COMPUTERSYSTEM DSQC 326 EPROM CHIPS SYSTEM BOARD Artisan Technology Group Quality Instrumentation Guar...

Страница 59: ...Electrical TroubleshootingGuide IRB6400M94A Page2 48 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 60: ...6400M94A Figure 2 2 Connectors XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 1 1 12 13 14 1 5 16 2 4 6 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 3 2 DBZ GS1 XT10 XS XP18 Z2 Artisan Technology Group Quality...

Страница 61: ...Electrical TroubleshootingGuide IRB6400M94A Page2 50 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 62: ...tem Electrical TroubleshootingGuide IRB6400M94A Figure 2 3 SMB SM B Insidec ove r 7 2 VOLT BATTERY R2 X2 R 2 X 5 R 2 X 4 R 2 X 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Страница 63: ...Electrical TroubleshootingGuide IRB6400M94A Page2 52 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 64: ...2 4 Back Plane AP80 D SQ C 25 6A DS QC 316 DS QC 317 DS QC 326 F EN A S MS GS ES LIM E RR F F F POWER SUPPLY SYSTEM BOARD ROBOT COMPUTER MAIN COMPUTER MEMORY BOARD 3 6 VOLT BATTERIES Artisan Technolog...

Страница 65: ...Electrical TroubleshootingGuide IRB6400M94A Page2 54 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 66: ...ste 5 Go to Top 6 Go to Bo ttom 7 Mark 8 Chang e Selected 9 Show Value 0 ModPos Sear ch File Prog ram E dit View IPL __ SY S IPL __ U SR MO VE 2400 m ain C omm on 1 MoveJ 2 MoveL 3 4 P rocC a ll 5 R E...

Страница 67: ...Electrical TroubleshootingGuide IRB6400M94A Page2 56 ComputerSystem NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 68: ...CHAPTER 3 LOADING LOADING SYSTEM SYSTEM SOFTWARE SOFTWARE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 69: ...y Disk 3 4 3 3 Software Loading Procedure 3 5 3 4 Parameter Loading Procedure 3 8 3 5 Resolver Revolution Counter Update 3 9 3 6 List of Circuit Diagrams 3 13 3 7 Component Location Figures 3 17 Figur...

Страница 70: ...Electrical TroubleshootingGuide IRB6400M94A Page 3 2 LoadingSystemSoftware NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 71: ...y is battery backed by two 3 6 volt lithium batteries The life expectancy of these batteries is 5 years If both of these batteries are disconnected and the main disconnect is turned off the computer w...

Страница 72: ...t save information to the disk This window should be opened for all system software disks This way the original information will stay protected When the customer receives the system software for their...

Страница 73: ...ber 3HAB2312 2 rev PressENTER on the teach pendant The system will begin loading information from the floppy disk The message Loading will appear 3 WhenthecontrolpromptsyoutoinsertBootDisk2 wait for t...

Страница 74: ...e a Select IRB type to install The choices are 1400 2400 3400 4400 6400 SCAN 6400C Select the appropriate one for your robot b Select the robot type The choices are 2 25 75 2 9 120 2 4 120 3 0 75 2 4...

Страница 75: ...install If you have any of the following Advanced Functions Disk program number 3HAB2304 2 rev RAP Serial Link program 3HAB2308 1 rev Arcware M94A program 3HAB2309 1 rev Spotware M94A program 3HAB23X...

Страница 76: ...or loaded from your personal disk on which the parameters had been stored previously 1 Insert the disk into the disk drive and use the following key strokes MISC SYSTEM PARAMETERS FILE LOAD SAVED PARA...

Страница 77: ...s two in position before moving axis three into position IMPORTANT Axis 6 has no hard stops This means that when a robot is not updated axis sixisallowedtorotateendlessly However the revolution counte...

Страница 78: ...axes will be marked with an X 5 PressOK A warning message will be displayed If everything is correct then pressOK again The following screen should appear 3 Calibrated Calibrate IRB 3 6 Status To cali...

Страница 79: ...then select the appropriate file name Example For an IRB 6400 the appropriate file nameis cal6400 prg PressOK Thenstartthe program and answer the questions for your robot This information can be foun...

Страница 80: ...do not line up a Retry counter updating procedure again pay particular attention to your accuracy b Check the resolver values as compared to the written valuesinthebasenexttotheAxis1motor SeeChapter 1...

Страница 81: ...stemSoftware Electrical TroubleshootingGuide IRB6400M94A 3 6 ListofCircuitDiagrams 1 FLOPPY DISC UNIT DATA PORTS BATTS 14 of 43 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Страница 82: ...Electrical TroubleshootingGuide IRB6400M94A Page 3 14 LoadingSystemSoftware NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 83: ...System D SQ C 25 6A DS QC 316 DS QC 317 DS QC 3 26 AC 1 S2TEST MODE INIT S1 XB2 VBATT2 TEST 0V 1 2 X4 DRIVE SYSTEM9 X51I O CON SOLE X5SERIALLINKS 1 2 1 2 XB1 VBATT1 F E N A S M S GS ES L IM E RR F F F...

Страница 84: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 18 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 85: ...temSoftware Electrical TroubleshootingGuide IRB 6400M94A Figure 3 2 Floppy Disk Drive Wo r ki ng Lig ht Disk Slot Eject Button Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Страница 86: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 20 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 87: ...ge3 21 LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Figure 3 3 RobotCalibrationPosition Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Страница 88: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 22 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 89: ...System D SQ C 25 6A DS QC 316 DS QC 317 DS QC 3 26 AC 1 S2TEST MODE INIT S1 XB2 VBATT2 TEST 0V 1 2 X4 DRIVE SYSTEM9 X51I O CON SOLE X5SERIALLINKS 1 2 1 2 XB1 VBATT1 F E N A S M S GS ES L IM E RR F F F...

Страница 90: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 18 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 91: ...temSoftware Electrical TroubleshootingGuide IRB 6400M94A Figure 3 2 Floppy Disk Drive Wo r ki ng Lig ht Disk Slot Eject Button Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Страница 92: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 20 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 93: ...ge3 21 LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Figure 3 3 RobotCalibrationPosition Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Страница 94: ...LoadingSystemSoftware Electrical TroubleshootingGuide IRB 6400M94A Page3 22 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 95: ...CHAPTER 4 POWER ON POWER ON CIRCUITRY CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 96: ...ribution 4 5 4 4 Component Cross Reference 4 8 4 5 List of Circuit Diagrams 4 9 4 6 Component Location Figures 4 23 Figure 4 1 Inside Front of Control Cabinet 4 23 Figure 4 2 Inside Swing Gate 4 25 Fi...

Страница 97: ...Electrical TroubleshootingGuide IRB6400M94A Page 4 2 PowerOnCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 98: ...turned ON It will go through both the AC Power Circuits and DC Power Circuits ABB robot product lines are designed to run on several different voltage sources TheBackPlaneisusedforeasyaccesstotheindiv...

Страница 99: ...52 and 62 Into FS1 terminals2 4 6 whichisa16ampcircuitbreaker 262 VAC then goes from FS1 terminals 1 3 5 To KM1 terminals 2 4 and 6 the MOTORS ON relay KM1 is also the result of Run Chain 1 230 VAC i...

Страница 100: ...ood place to check the 5 VDC 5 VDC is also used to power theFloppy Disk Drive through the Back Plane AP80 X22 pin 2 24 VDC is used in many different areas of the control cabinet 24 VDC is supplied for...

Страница 101: ...romenergizing 24 VDC in thePower Unit will also energize KM3 the supervisory relay by going through normally closed contacts of KM1 and KM2 terminals 12 and 11 Then to the System board DSQC 256A as MO...

Страница 102: ...difExternalAxes axis8 12 arepresent toindicatethattheexternalrectifierisworkingcorrectly Ifnoexternalrectifiersarepresent ajumperisrequired between XS3 XT3 terminal C16 to C12 24 VDC isfedtotheKeySwit...

Страница 103: ...or switch SB2 Cabinet top Sheet 24 4 2 Door switch SB3 Cabinet top Sheet 24 4 2 Duty time counter PT Cabinet front Sheet 9 4 1 Fans EV1 EV2 EV3 EV7 Swing gate top Sheet 12 4 2 Fans EV5 Cabinet Floor S...

Страница 104: ...MOTOR ON CHAIN PART 2 8 of 43 5 POWER UNIT 9 of 43 6 6400 DRIVE SYSTEM 12 of 43 7 CONTROLCABLE 13 1 of 43 8 FLOPPY DISK UNIT DATA PORTS BATTS 14 of 43 9 COOLING SERV OUTLET 24 of 43 10 BRAKE UNIT SER...

Страница 105: ...Electrical TroubleshootingGuide IRB6400M94A Page 4 10 PowerOnCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 106: ...otingGuide IRB6400M94A Figure 4 1 Inside Front of Control Cabinet 4 6 ComponentLocationFigures PT SYSTEM BOARD POWER SUPPLY TM1 TM1 XT1 EV5 FS1 FU 1 3 XT31 Artisan Technology Group Quality Instrumenta...

Страница 107: ...PowerONCircuitry Page 4 24 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 108: ...3 ST3 KT1 XS21 XS1 SB2 SB3 SERVICE LIGHT QS1 GS1 XS1 SWING GATE AP41 XS1 KM1 KM2 KM3 KM4 AP60 RV1 4 EV3 EV2 EV1 XS18 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31...

Страница 109: ...PowerONCircuitry Page 4 26 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 110: ...ootingGuide IRB6400M94A Figure 4 3 Brake Push Buttons AB CD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 R3 BU1 6 R 3 BU1 3 R3 BU4 6 R 1 MP 6 5 4 3 2 1 BRAKEUNIT Artisan Technology Group Quality Instrumenta...

Страница 111: ...PowerONCircuitry Page 4 28 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 112: ...ical TroubleshootingGuide IRB6400M94A Figure 4 4 CustomerConnectionXS3 XT3 XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1 5 16 Swing Gate Artisan Technology Group Quality Instrumentation Guarantee...

Страница 113: ...PowerONCircuitry Page 4 30 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 114: ...26 25 21 22 17 13 9 5 1 18 14 10 6 2 31 32 27 28 23 24 19 20 15 16 11 1 2 7 8 3 4 BACKSIDE NUMBERING KEYSWITCH EMERGENCY STOP PUSHBUTTON TOP BOTTOM 1 3 2 1 3 2 01 02 01 02 BACK VIEW BACK VIEW MOTORS O...

Страница 115: ...PowerONCircuitry Page 4 32 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 116: ...CHAPTER 5 MOTORS ON MOTORS ON DUAL RUN CHAIN DUAL RUN CHAIN CIRCUITRY CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 117: ...anual Stop Circuit 5 12 5 2 9 Run Chain 2 General Stop Circuit 5 13 5 2 10 Run Chain 2 Emergency Stop Circuit 5 14 5 2 11 Run Chain 2 Limit Circuit 5 15 5 2 12 Run Chain 2 Completion 5 16 5 3 AUTO Mod...

Страница 118: ...Electrical TroubleshootingGuide IRB6400M94A Page 5 2 MotorsON DualRunChainCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 119: ...e safety circuits The two circuits are also powered in opposite directions for the purpose of safety Run chain 1 starts at 24 VDC and goes to 0 VDC Runchain2startsat0VDCandgoesto24VDC The two run chai...

Страница 120: ...FULL AUTO A3 A 4 A S 24 Vdc A11 A 12 LIM 1 263 Vac X3 COMPU TER ENA BLE COMPUTER MOTORS ON K M3 RELA Y B 5 B 6 B 7 B8 2 4 Vdc B9 B1 0 ENA BLING DEVIC E B1 B2 B 3 B4 0 V B 11 B12 KM2 A XIS 1 OVER TRA...

Страница 121: ...t of the teach pendant back to XP XS20 pin D It then goes back to theBack Plane through X32 pin 2 From the Back Plane the 24 VDC goes through X35 pin 24 to the System board AP41 XP1 pin A12 This tells...

Страница 122: ...le in Manual Reduced or Manual Full Speed modes If this circuitry is not used a jumper isrequired from XS3 XT3 terminal A1 to A2 24 VDC then goes to the System board DSQC 256A AP41 XP1 pin A14 and tur...

Страница 123: ...top GS circuitry This circuit can be used to stop the motors of the robot in any mode and give a General Stop error If this circuit is open the motors cannot be started and if the motors were running...

Страница 124: ...p button is NOT pressed then 24 VDC will come back to the control panel through XS XP20 pin L Then back to the back plane X32 pin 9 Then past a noise reducing capacitor off the back plane X35 pin 3 To...

Страница 125: ...2 terminal 1 and out terminal 2 Then to the manipulator through XS1 pin D2 to R1 MP pin D2 At this point the robot may have the optional axis one Over Travel Limit switch wired from R1 MP pin D2 to D4...

Страница 126: ...to the power unit KM3 terminal 33 If KM3 is energized it should be if power is ON Then 24 VDC goes to KM1 relay coil terminal A2 This will pull in KM1 closing contacts 44 and 43 latching around the K...

Страница 127: ...under normal conditions Run Chain 1 and Run Chain 2 have the same status To trace these circuits we start atLIM 2 LED Insteadofcheckingfor24VDCwewillbechecking for 0 VDC This is done by connecting th...

Страница 128: ...to the teach pendant s enabling device Whentheenablingdeviceispulledtothecenterposition 0 VDC will go out XS XP20 pin E In to the back plane X32 pin 3 0 VDC goes out X35 pin 8 To the customer connect...

Страница 129: ...itch terminal 5 To the back plane X34 pin 8 Then 0 VDC goes off the back plane X35 pin 5 to return to XS3 XT3 terminal B5 TheGeneralStopcircuitryiswherethecustomercan wireexternalsafetydevicesaswasdon...

Страница 130: ...C goes out terminal 22 To the back plane X34 pin 22 Out X32 pin 4 In XS XP20 pin H Out to the Teach Pendant s Emergency Stop push button If the Emergency Stop push button is not pressed in 0 VDC will...

Страница 131: ...movesagainsttheAxis 1 hard stop this circuit will open If this option is not used then a jumper is placed between pins D1 and D3 0 VDC goes back to XS1 pin D3 Then to XS22 pin 8 Then if external axes...

Страница 132: ...l to the System board DSQC 256A called Motors ON at AP41 XP1 pin A23 KM2 contacts 2 4 and 6 will close sending 262 VAC to the Drive unit KM2 will open contacts 11 and 12 KM2 will open contacts 21 and...

Страница 133: ...s AUTO mode If this circuit is not used then the customer may place a jumper between XS3 XT3 terminal A3 to A4 24 VDC then goes from A4 to the back plane X35 pin 11 AlsototheSystemboard DSQC256A AP41...

Страница 134: ...ain 1 If this circuit is not used then a jumper goes between B4 and B3 0 VDC can be traced to the back plane X35 pin 9 Into X34 pin 12 To the Key Switch terminal 6 IftheKeySwitchisinAUTOmode 0VDCgoest...

Страница 135: ...7 8 5 5 Enabling Device Teach pendant Sheet 7 8 5 9 Fuse FU3 Swing gate bottom Sheet 7 5 1 5 2 K1CR and K2CR System board Sheet 8 5 3 KM1 and KM2 and KM3 Swing gate Top Sheet 9 5 7 Mode select key swi...

Страница 136: ...Electrical TroubleshootingGuide IRB6400M94A Page 5 20 MotorsON DualRunChainCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 137: ...94A 1 MOTOR ON CHAIN PART 1 7 of 43 2 MOTOR ON CHAIN PART 2 8 of 43 3 POWER UNIT 9 of 43 4 CONTROLCABLE 13 1 of 43 5 EXTERNAL AXES 7 8 15 of 43 6 AXIS 1 105 of 12 5 5 ListofCircuitDiagrams Artisan Tec...

Страница 138: ...Electrical TroubleshootingGuide IRB6400M94A Page 5 22 MotorsON DualRunChainCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 139: ...System Board 5 6 ComponentLocationFigures SYSTEM BOA RD DSQC 256A D S Q C 256A F E N A S M S G S E S LI M E R R S4 M94A Computer System D SQ C 2 56A D S Q C 3 16 D SQ C 317 D S Q C 32 6 F E N A S MS G...

Страница 140: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 30 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 141: ...Y S TE M X 32 T E A CH P E N D A NT X 22 FD U P O W E R X 33 L CD A B X 2 F LO P P Y D IS KU N IT C O N N E C T O R S 1 1 1 1 1 1 1 A C 1 S 2TE S T M O D E IN IT S 1 X B 2 V B A TT 2 TE S T 0V1 2 X 4...

Страница 142: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 32 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 143: ...DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Figure 5 3 System Board K1CR K2CR 256A K1CR K2CR SYSTEM BOARD Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Страница 144: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 34 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 145: ...itry Electrical TroubleshootingGuide IRB6400M94A Figure 5 4 Control Cable XS1 100 250 mm s M D C B A 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 XS1 Artisan Technology Group Quality Instrumentation Guarant...

Страница 146: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 36 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 147: ...Customer Connections XS3 XT3 AP41 XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 CB A AP41 XS XP18 Z2 XS...

Страница 148: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 38 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 149: ...30 29 26 25 21 22 17 13 9 5 1 18 14 10 6 2 31 32 27 28 23 24 19 20 15 16 11 1 2 7 8 3 4 BACKSIDE NUMBERING KEYSWITCH EMERGENCY STOP PUSHBUTTON TOP BOTTOM 1 3 2 1 3 2 01 02 01 02 BACK VIEW BACK VIEW M...

Страница 150: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 40 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 151: ...8 11 21 33 43 12 22 34 44 1 3 5 7 2 4 6 8 A1 3 4 1 2 1 2 1 2 1 2 KM4 KM3 KM2 KM1 TOP VIEW SWING GATE POWER UNIT A2 A1 1 3 4 5 1 3 4 21 A1 1 3 4 5 2 4 6 22 A2 A2 13 21 33 43 5 6 7 8 5 6 7 8 14 22 34 4...

Страница 152: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 42 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 153: ...oubleshootingGuide IRB6400M94A Figure 5 8 R1 MP A B C D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 R1 MP AXIS 1 HARD STOP OPTIONAL LIMIT SWITCH IS LOCATED UNDER HERE Artisan Technology Group Quality Instr...

Страница 154: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 44 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 155: ...oveL MoveL MoveL MoveL MoveL U ndo 2 Cut 3 Cop y 4 Paste 5 Go to Top 6 Go to Bo ttom 7 Mark 8 Chang e Selected 9 Show Value 0 ModPos Sear ch File Prog ram E dit View IPL __ SY S IPL __ U SR MO VE 2400...

Страница 156: ...MotorsON DualRunChainCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 5 46 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 157: ...CHAPTER 6 EMERGENCY STOP EMERGENCY STOP CIRCUITRY CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 158: ...Chain 2 6 6 6 4 Emergency Stop Reset Circuit 6 8 6 5 Component Cross Reference 6 9 6 6 List of Circuit Diagrams 6 11 6 7 Component Location Figures 6 15 Figure 6 1 Teach Pendant 6 15 Figure 6 2 Comput...

Страница 159: ...Electrical TroubleshootingGuide IRB6400M94A Page 6 2 EmergencyStopCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 160: ...the drives To reset the button either twist the button or pull on button until it returns to its OUT position Press the OK button on the Teach Pendant to clear the error You are also required to pres...

Страница 161: ...een XS3 XT3 terminals A7 and A8 24 VDC then goes through XS3 XT3 terminal A8 to the back plane X35 pin 1 Past a noise reduction capacitor C2 out the back plane X34 pin 4 to the Control Panel Emergency...

Страница 162: ...it is open If the customer is not using a customer connected Emergency Stop then a jumper is placed between XS3 XT3 terminals A9 and A10 24 VDC goes from XS3 XT3 terminal A10 to the system board DSQC...

Страница 163: ...tionbetweenXS3 XT3 terminals B7 and B8 is necessary just like Run Chain 1 with A7 and A8 0 VDC then goes through XS3 XT3 terminal B8 to the back plane X35 pin 2 Past a noise reduction capacitor C1 out...

Страница 164: ...it is open If the customer is not using a customer connected EmergencyStop thenaconnectionbetweenXS3 XT3 terminals B9 and B10 is necessary just like Run Chain 1 with A9 and A10 From B10 0 VDC goes to...

Страница 165: ...24 To the Control Panel s Motors OFF push button terminal 14 Whenthebuttonispressed 24VDCwillgothrough to terminal 13 Back to the back plane X34 pin 9 This is where the computer picks up the signal a...

Страница 166: ...Sheet 8 6 5 Back plane X32 X34 X35 Swing gate bottom Sheet 8 6 2 6 3 Control panel E stop Cabinet front Sheet 8 6 1 6 4 XS XP 20 Cabinet front Sheet 8 6 1 Teach pendant Cabinet front Sheet 8 6 1 Syst...

Страница 167: ...Electrical TroubleshootingGuide IRB6400M94A Page 6 10 EmergencyStopCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 168: ...ry Electrical TroubleshootingGuide IRB6400M94A 1 MOTOR ON CHAIN PART 1 7 of 43 2 MOTOR ON CHAIN PART 2 8 of 43 6 6 ListofCircuitDiagrams Artisan Technology Group Quality Instrumentation Guaranteed 888...

Страница 169: ...Electrical TroubleshootingGuide IRB6400M94A Page 6 12 EmergencyStopCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 170: ...e WaitDI MoveL MoveL MoveL MoveL MoveL U ndo 2 Cut 3 Cop y 4 Paste 5 Go to Top 6 Go to Bo ttom 7 Mark 8 Chang e Selected 9 Show Value 0 ModPos Sear ch File Prog ram E dit View IPL __ SY S IPL __ U SR...

Страница 171: ...EmergencyStopCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 6 16 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 172: ...r System System Board SYSTEM BOA RD DSQC 256A D S Q C 256A F E N A S M S G S E S LI M E R R S4 M94A Computer System D SQ C 256 A D S Q C 316 D SQ C 317 D S Q C 32 6 F E N A S M S G S E S LI M E R R F...

Страница 173: ...EmergencyStopCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 6 18 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 174: ...E A C H P E N D A N T X 2 2 F D U P O W E R X 3 3 L C D A B X 2 F L O P P Y D IS KU N IT C O N N E C T O R S 1 1 1 1 1 1 1 A C 1 S 2TE S T M O D E IN IT S 1 X B 2 V B A TT 2 TE S T 0 V1 2 X 4D R IV E...

Страница 175: ...EmergencyStopCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 6 20 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 176: ...29 26 25 21 22 17 13 9 5 1 18 14 10 6 2 31 32 27 28 23 24 19 20 15 16 11 1 2 7 8 3 4 BACKSIDE NUMBERING KEYSWITCH EMERGENCY STOP PUSHBUTTON TOP BOTTOM 1 3 2 1 3 2 01 02 01 02 BACK VIEW BACK VIEW MOTOR...

Страница 177: ...EmergencyStopCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 6 22 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 178: ...gure 6 5 CustomerConnectionsXS3 XT3 XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 CB A AP41 Artisan Tech...

Страница 179: ...EmergencyStopCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 6 24 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 180: ...CHAPTER 7 POWER UNIT POWER UNIT CIRCUITRY CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 181: ...Diagram 7 1 Rectifier Board 7 7 7 5 KM4 7 8 7 6 Component Cross Reference 7 9 7 7 List of Circuit Diagrams 7 11 7 8 Component Location Figures 7 17 Figure 7 1 Power Unit 7 17 Figure 7 2 XS3 XT3 and C...

Страница 182: ...Electrical TroubleshootingGuide IRB6400M94A Page 7 2 PowerUnitCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 183: ...The four relays are KM1 Motors ON Relay 1 KM2 Motors ON Relay 2 KM3 Supervisory Relay KM4 Brake Release Relay The coils of all four relays have noise suppression devices RV1 3 and V3 connected to the...

Страница 184: ...and 34 connected to XS3 XT3 terminals A13 and A14 are supplied for the customer to use to indicate when KM1 is energized Normally OPEN contacts 2 4 6 and 1 3 5 are the power contacts on KM1 262 VAC i...

Страница 185: ...ntacts to release the brakes on the robot Normally OPEN contacts 33 and 34 connected to XS3 XT3 terminals B13 and B14 are supplied for the customer to use to indicate when KM2 is energized Normally OP...

Страница 186: ...he motors hold off circuit This circuit can only be used to keep the motors OFF if they are already OFF KM3 must be de energized before motors are shut OFF This circuit will NOT stop themotors Thiscir...

Страница 187: ...dtoallow KM2 to be energized Normally CLOSED contacts 21 and 22 are used to allow KM4 the brake relay to energize only when KM3 is not energized NormallyCLOSEDcontacts62 72 82and61 71 81 are used for...

Страница 188: ...of normally closed contacts Normally OPEN contacts 1 and 2 go to XS3 XT3 terminals C10 and C11 are supplied for the customer to use to monitor the robots brake circuits NormallyOPENcontacts3and4alongw...

Страница 189: ...nce Power unit Swing gate top Sheet 9 7 1 KM1 Power unit Sheet 9 7 1 KM2 Power unit Sheet 9 7 1 KM3 Power unit Sheet 9 7 1 KM4 Power unit Sheet 9 7 1 System board AP41 Swing gate front sheet 8 7 2 XS3...

Страница 190: ...Electrical TroubleshootingGuide IRB6400M94A Page 7 10 PowerUnitCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 191: ...ootingGuide IRB6400M94A 1 MAINSCONNECTION 5 of 43 2 MOTOR ON CHAIN PART 2 8 of 43 3 POWER UNIT 9 of 43 4 6400 DRIVE SYSTEM 12 of 43 7 7 ListofCircuitDiagrams Artisan Technology Group Quality Instrumen...

Страница 192: ...Electrical TroubleshootingGuide IRB6400M94A Page 7 12 PowerUnitCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 193: ...11 21 33 43 12 22 34 44 1 3 5 7 2 4 6 8 A1 3 4 1 2 1 2 1 2 1 2 KM4 KM3 KM2 KM1 TOP VIEW SWINGGATE POWER UNIT A2 A1 1 3 4 5 1 3 4 21 A1 1 3 4 5 2 4 6 22 A2 A2 13 21 33 43 5 6 7 8 5 6 7 8 14 22 34 44 A...

Страница 194: ...PowerUnitCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 7 18 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 195: ...rs AP41 AP9 XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 CB A AP41 6 10 14 18 22 26 30 4 8 12 16 20 24...

Страница 196: ...PowerUnitCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 7 20 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 197: ...UnitCircuitry Electrical TroubleshootingGuide IRB6400M94A Figure 7 3 K1CR K2CR on System Board 256A K1CR K2CR SYSTEM BOARD Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Страница 198: ...PowerUnitCircuitry Electrical TroubleshootingGuide IRB6400M94A Page 7 22 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 199: ...CHAPTER 8 BRAKE CIRCUITRY BRAKE CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 200: ...Brake Release 8 5 8 4 Component Cross Reference 8 7 8 5 List of Circuit Diagrams 8 9 8 6 Component Location Figures 8 23 Figure 8 1 Power Unit 8 23 Figure 8 2 System Board 8 25 Figure 8 3 Robot Brake...

Страница 201: ...BrakeCircuitry Page 8 2 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 202: ...only cause a problem when the motors are off because the axis will drift to its hard stop The normal cause of a brake slipping is oil gettingintothebrakepadsduetoasealthathasfailed To test a brake for...

Страница 203: ...will go to the individual axis brake coil For example Axis 1 24 VDC would go through R3 X9 pin 10 Into the Axis 1 motor connector R2 MP1 pin L Inside the motor the 24 VDC will energize the coil of the...

Страница 204: ...having the brakes hold the robot in position and allowing the motors to relax As soon as the computer receives a command for motion it will release the brakes by energizing KM4 again The brakes are c...

Страница 205: ...OPEN contacts 3 and 4 which along with KM1 and KM2 contacts 7 8 Sends 24 VDC to XS1 pins B12 and B13 From there 24 VDC goes to R1 MP pins B12 and B13 To the brake unit R3 X8 pins 1 and 2 Once on the...

Страница 206: ...t 9 8 1 KM1 Power unit Sheet 9 8 1 KM2 Power unit Sheet 9 8 1 KM3 Power unit Sheet 9 8 1 KM4 Power unit Sheet 9 8 1 XS1XP1 Cabinet left side Sheet 13 1 8 4 R1 MP Robot back Sheet 13 1 105 8 3 Brake un...

Страница 207: ...BrakeCircuitry Page 8 8 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 208: ...3 MOTOR ON CHAIN PART 2 8 of 43 4 POWER UNIT 9 of 43 5 BRAKE UNIT SERIAL MEAS BOARD 104 of 12 6 AXIS 1 105 of 12 7 AXIS 2 106 of 12 8 AXIS 3 107 of 12 9 AXIS 4 108 of 12 10 AXIS 5 109 of 12 11 AXIS 6...

Страница 209: ...BrakeCircuitry Page 8 10 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 210: ...1 21 33 43 12 22 34 44 1 3 5 7 2 4 6 8 A1 3 4 1 2 1 2 1 2 1 2 KM4 KM3 KM2 KM1 TOP VIEW SWINGGATE POWER UNIT A2 A1 1 3 4 5 1 3 4 21 A1 1 3 4 5 2 4 6 22 A2 A2 13 21 33 43 5 6 7 8 5 6 7 8 14 22 34 44 A1...

Страница 211: ...BrakeCircuitry Page 8 24 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 212: ...trical TroubleshootingGuide IRB6400M94A Page 8 25 BrakeCircuitry Figure 8 2 System Board 256A K3CR SYSTEM BOARD Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg...

Страница 213: ...BrakeCircuitry Page 8 26 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 214: ...ge 8 27 BrakeCircuitry Figure 8 3 RobotBrakeButtons AB CD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 R3 BU1 6 R 3 BU1 3 R3 BU4 6 R 1 MP 6 5 4 3 2 1 BRAKEUNIT Artisan Technology Group Quality Instrumentati...

Страница 215: ...BrakeCircuitry Page 8 28 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 216: ...Connections SWING GATE 2 4 6 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 3 2 DB Z GS1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 CB A AP41 FS1 FU1 3 XT31...

Страница 217: ...BrakeCircuitry Page 8 30 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 218: ...5 Robot Axes AXIS 1 MOTOR AXIS 2 MOTOR LEFT SIDE AXIS 3 MOTOR RIGHT SIDE AXIS 4 MOTOR AXIS 5 MOTOR AXIS 6 MOTOR as viewed from rear of robot inside base inside upper arm SMB inside cover Artisan Techn...

Страница 219: ...BrakeCircuitry Page 8 32 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 220: ...CHAPTER 9 MOTOR MOTOR RESOLVER RESOLVER CIRCUITRY CIRCUITRY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 221: ...9 6 9 3 2 Drive Unit 9 8 Diagram 9 3 Drive Board 9 8 9 4 Motors 9 9 Diagram 9 4 Simplified Motor 9 9 Diagram 9 5 Y Motor Wiring Configuration 9 10 9 5 Resolver 9 12 Diagram 9 6 Resolver Coil Relations...

Страница 222: ...Electrical TroubleshootingGuide IRB6400M94A Page9 2 Motor ResolverCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 223: ...m is known as a closed loop system because a movement command goes out the robot computer board to the drive system then to the motors Connected to each motor is a resolver which is used for position...

Страница 224: ...pose is generated by the customers program or by moving the joystick The computers software and the customers parameters determines the exact calculations for creating a pose The main computer will se...

Страница 225: ...he command will change causing the robot computer to send a signal to the drive system to make the motors move to the commanded positions Ifthecommandedpositiondiffersfromtheactualposition more than t...

Страница 226: ...the rectifier first Then the computer checks the Axes boards This communication is performed through the 64 pin ribbon cable The drive rectifier uses the KM3 relay contacts andtwo10ohmresistorswhenst...

Страница 227: ...the cabinet OFF and then ON again or use the INIT button on the computer back plane Troubleshootingoftherectifierconsistsofmonitoring theLEDsonthefrontoftheboard Alsobycheckingthe incoming voltage an...

Страница 228: ...Trouble shooting of the drive boards is performed primarilybymonitoringoftheredLEDonthefrontofthe board TheLEDindicatesadrivefaultbutnotnecessarily thedriveboard Whenthecontrolisturnedonthedrive fault...

Страница 229: ...s made up of coils electromagnets aroundtheoutside knownasthestator andpermanent magnets mounted on the part of the motor that rotates known as the rotor The diagram below shows these components To ma...

Страница 230: ...motor s shaft The alignment of the motor shaft to the resolver is known ascommutation CommutationfortheIRB6400issetatthefactorywhen the motor is built All motor commutator values are 1 570800 Built in...

Страница 231: ...eggar may be used to check resistance to ground Resistance to groundshouldbegreaterthan10Megohms Repeated use of a Meggar may cause deterioration of motor magnets Replacement of a motor requires the p...

Страница 232: ...litude of the X and Y coils the computer can determine the rotational position of the resolvers rotor Troubleshootingofaresolverisdonebestbychecking theresistancethroughthecoils Thebestplacetomake thi...

Страница 233: ...rgeablebattery 7 2 VDC powers the SMB This will provide the power to send a small voltage spike through the resolver every second this is like a heart beat being sent to the resolver This heart beat i...

Страница 234: ...Electrical TroubleshootingGuide IRB6400M94A Page9 14 Motor ResolverCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 235: ...Sheet 12 9 2 9 4 XS1 Cabinet left Sheet 12 9 4 R1 MP Robot back Sheet 12 Sheets 104 110 9 3 Dynamic brake resister Cabinet bottom Sheet 12 16 9 2 InRush circuits Drive system left Sheet 12 09 Sheet 9...

Страница 236: ...Electrical TroubleshootingGuide IRB6400M94A Page9 16 Motor ResolverCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 237: ...400 DRIVE SYSTEM 12 of 43 4 CONTROLCABLE 13 1 of 43 5 BRAKE UNIT SERIAL MEAS BOARD 104 of 12 6 AXIS 1 105 of 12 7 AXIS 2 106 of 12 8 AXIS 3 107 of 12 9 AXIS 4 108 of 12 10 AXIS 5 109 of 12 11 AXIS 6 1...

Страница 238: ...Electrical TroubleshootingGuide IRB6400M94A Page9 18 Motor ResolverCircuitry NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 239: ...rs ResolverCircuitry Electrical TroubleshootingGuide IRB6400M94A Figure 9 1 Back Plane AP80 9 9 ComponentLocationFigures Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www a...

Страница 240: ...Motors ResolverCircuitry Page9 32 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 241: ...bleshootingGuide IRB6400M94A Figure 9 2 Drive System Boards LEDs INRUSH RESISTERS 10 OHM RECTIFIER DC LINK DRIVE BOARDS 1 2 3 4 5 6 DYNAMIC BRAKING RESISTERS Artisan Technology Group Quality Instrumen...

Страница 242: ...Motors ResolverCircuitry Page9 34 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 243: ...O R RESO LVER LEFTSID E AXIS3MO TOR RESO LVER RIG HTSIDE AXIS4MOTO R RESOLVER AXIS5M OTO R RESOLVER AXIS6MO TO R R ESOL VER asview edfromrearof robot insidebase insideupper arm SM B insidecover R2 X2...

Страница 244: ...Motors ResolverCircuitry Page9 36 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 245: ...1 1 0 A P7 XS1 A P 6 XS 1 A P5 X S 1 A P 4 XS1 A P3 XS 1 A P2 X S1 A P1 X S1 1 10 1 10 1 1 0 1 1 0 1 10 1 10 AP7 XS1 AP6 XS1 AP5 XS1 AP4 XS1 AP3 XS1 AP2 XS1 AP1 XS1 DRIVE RIBBON CABLE XS XP1 6 10 14...

Страница 246: ...Motors ResolverCircuitry Page9 38 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 247: ...CHAPTER 10 CALIBRATIONS CALIBRATIONS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 248: ...3 10 1 Overview 10 3 10 2 Rough Resolver Calibration Procedure 10 4 10 3 Manually Entering Calibration Values 10 10 10 4 Precision Resolver Calibration Procedure 10 14 10 4 1 Calibrating Axis 1 10 15...

Страница 249: ...Electrical TroubleshootingGuide IRB6400M94A Page 10 2 CalibrationProcedures NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 250: ...ontrol must be connected to the robot and with the main disconnect turned on it takes 18 hours to fully charge this battery and it should maintain a charge for approximately 1000 hours If this battery...

Страница 251: ...this procedure program touch up may be required NOTE If your application can not tolerate this roughcalibrationthenyoumaywanttouse theprecisionresolvercalibrationprocedure inthischapter 1 Movetheaxis...

Страница 252: ...appear on the screen 7 8 9 4 5 6 1 2 3 0 1 2 stop M ov eJ M ov e J ro ut i ne Wa i t D I M ov eL M ov eL M ov eL M ov eL M ov e L U ndo 2 C ut 3 C opy 4 P ast e 5 G ot o Top 6 G ot o B ot t om 7 Mark...

Страница 253: ...updated Notcalibrated Indicatesthatoneormoreaxisdo not have calibration values stored 3 Press CALIB CALIBRATE The window below will appear 4 The X indicates chosen axes Press theALL function button to...

Страница 254: ...brate Cancel OK The Calibrationforall marked axes will be changed It cannot be undone OK to continue 6 After receiving the warning if you wish to continue press OK again The following screen should ap...

Страница 255: ...dit 1 6 Topics Types System Parameters Manipulator Motor Name Type irb_1 irb_2 irb_3 irb_4 irb_5 irb_6 3HAB 4039 1 3HAB 4040 1 3HAB 4040 1 3HAB 4041 1 3HAB 4041 1 3HAB 4042 1 8 Thenselecttheaxisdesire...

Страница 256: ...ion that the calibration values are valid This should be YES COM OFFSET VALID Confirmation that the commutation values are valid This should be YES 10 The value to put on the paper is the CAL OFFSET v...

Страница 257: ...wo ways to enter the calibration values into the control they are 1 By disk 2 Manually entering calibration values To enter the calibration values by disk 1 Press MISC SYSTEM PARAMETERS TOPIC MANIPULA...

Страница 258: ...Boot Disk 4 or another disk Press FILE LOAD SAVED PARAMETERS Select the file with the resolver values in it This should be a file named MOC CFG Press OK Cancel OK 1 6 Save Parameter As Name Moc Massme...

Страница 259: ...the Axis 1 motor or wherever you have them recorded 2 Press MISC SYSTEM PARAMETERS TOPICS MANIPULATOR TYPES MOTOR You will see the screen below File Edit 1 6 Topics Types System Parameters Manipulator...

Страница 260: ...given to the axis example motor_1 CAL OFFSET The value of the resolver when it is at the calibration position This value is in radians COM OFFSET The commutation value for the motor On the IRB 6400 t...

Страница 261: ...srequiredtousethecalibrationequipment 3HAA 0001 MZ Also needed to accomplish this procedure will be digital leveling equipment This equipmentdoesnotcomewiththerobot Thisequipment can be purchased thro...

Страница 262: ...rod 6896 0011 YN in one of the three holes in the base 5 Use the Manual Brake Release Switch for Axis 1 and manually push the robot until the measuring rod is positioned within the flat surface on the...

Страница 263: ...0011 LP on the lower arm calibration plane 10 Mount sensor fixture 6808 0011 GM on the wrist calibration plane turned upwards 11 Mount intermediate plate 6896 134 GZ on the turn disc Mount elbow fixtu...

Страница 264: ...s 0 3 mm m The reason the calibration position is always adjusted in the directions shown in Figure 3 is that frictionandgravityforcesworktogetheragainstthe direction of movement This simplifies adjus...

Страница 265: ...t 3 C opy 4 P ast e 5 G ot o Top 6 G ot o B ot t om 7 Mark 8 C hang e S el ect ed 9 S how V al ue 0 ModP os Search Fi l e Pr og ra m E di t V i ew I PL __ SY S I PL __ U SR MO V E24 00 mai n C o m mo...

Страница 266: ...volution counter is not updated Notcalibrated Indicatesthatoneormoreaxisdo not have calibration values stored 17 Press CALIB CALIBRATE The window below will appear 3 Calibrated Calibrate IRB 3 6 Statu...

Страница 267: ...Calibrate Cancel OK The Calibration forall marked axes will be changed It cannot be undone OK to continue 20 After receiving the warning if you wish to continue press OK again The following screen wil...

Страница 268: ...Edit 1 6 Topics Types System Parameters Manipulator Motor Name Type irb_1 irb_2 irb_3 irb_4 irb_5 irb_6 3HAB 4039 1 3HAB 4040 1 3HAB 4040 1 3HAB 4041 1 3HAB 4041 1 3HAB 4042 1 22 Thenselecttheaxisdesi...

Страница 269: ...mation that the calibration values are valid This should be YES COM OFFSET VALID Confirmation that the commutation values are valid This should be YES 24 The value to put on the paper is theCAL OFFSET...

Страница 270: ...reasons for having to update counters are When a resolver error has occurred When the signal between the resolver and SMB has been interrupted When one of the manipulator axis has been moved without t...

Страница 271: ...ocedures CounterUpdatingProcedure Cont The figure below shows all six axis in the calibration position NOTE if counter values are lost the robot will not move in linear motion Artisan Technology Group...

Страница 272: ...displayed File Edit View Calib 1 1 Service Calibration Unit Status IRB Not Rev updated 3 Press CALIB REV COUNTER UPDATE The following screen will be displayed 3 Calibrated Calibrate IRB 3 6 Status To...

Страница 273: ...nd run the calibration program on the Boot Disk 4 Explanations on how to do this is in the software loading chapter If the calibration marks do not line up after running the calibration program repeat...

Страница 274: ...Page 10 27 CalibrationProcedures Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 275: ...Electrical TroubleshootingGuide IRB6400M94A Page 10 28 CalibrationProcedures NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 276: ...CHAPTER 11 INPUTS INPUTS OUTPUTS OUTPUTS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 277: ...8 11 3 1 External I O Connections Conn option 31X 11 9 11 3 2 Internal I O Connections Conn option 34X 11 13 11 3 3 Relay Unit Conn option 37X 11 16 11 3 4 120 VAC Modules Conn option 35X 11 18 11 3...

Страница 278: ...Electrical TroubleshootingGuide IRB6400M94A Page 11 2 Inputs Outputs NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 279: ...es of I O boards there are also several different I O board connection options The connection options are External connections Internal screw connections 24 VDC Internal screw connections 120 VAC Inte...

Страница 280: ...her or not the input output is activated The inputs and outputs normally receive their 24VDC supply from a customer connection but this can also be supplied internally XS3 XT3 terminals A15 B15 A16 B1...

Страница 281: ...put output on the front panel and a test switch which can be used to test whether the board is working properly By turning the test switch to the position for measuring inputs a power supply can be co...

Страница 282: ...slot This means that only one combined I O board can be used per system The Combined I O DSQC 315 is equipped with 16 digital inputs 16 digital outputs see DSQC 223 and 2 analog outputs 1 10V see DSQC...

Страница 283: ...d is a wide board taking up two I O slots When this board is configured it is always in the left of the two slots being occupied by this board The serial I O interface DSQC 239 RIO is intended to be u...

Страница 284: ...r labels for the different I O board positions Type Board Slot Position Board Conn External Conn Internal Conn Relay Unit Conn 120 VAC Conn Analog 1 AP11 XS10 XT10 Digital 1 AP11 XS11 XT11 AP21 AP21 D...

Страница 285: ...e wiring of external I O connections will be done through a 64 pin male connector on the left side of the control cabinet to the devices to be wired This type of connector is used for both analog and...

Страница 286: ...ple AnalogInput For the analoginputs to work a source voltage 15 VDC must be applied to the board This voltage can be supplied from the customer source or from the robot source Robot source at XS10 pi...

Страница 287: ...ference 500V Time intervals or 8ms hardware plus 1 11ms software System board time intervals or 1 5 ms hardware plus 2ms software DigitalOutputsTechnicalData Optically isolated and short circuit prote...

Страница 288: ...ccuracy 15 mV plus 2 of input signal Maximum potentialdifference 500 V AnalogOutputsTechnicalData VOLTAGEOUTPUTS Output voltage Analog board 10 V Combi board 0 to 10 V Load 2K Ohms Resolution 10 mV 10...

Страница 289: ...done by wiring 24 VDC from XS3 XT3toXTXXterminal31 and0VDContheXSXX terminal 40 Example AnalogInput For the analog inputs to work a source voltage 15 VDC must be applied to the board This voltage can...

Страница 290: ...erence 500V Time intervals or 8ms hardware plus 1 11ms software System board time intervals or 1 5 ms hardware plus 2ms software DigitalOutputsTechnicalData Optically isolated and short circuit protec...

Страница 291: ...curacy 15 mV plus 2 of input signal Maximum potential difference 500 V AnalogOutputsTechnicalData VOLTAGEOUTPUTS Output voltage Analog board 10 V Combi board 0 to 10 V Load 2K Ohms Resolution 10 mV 10...

Страница 292: ...y from XS3 XT3 terminals A15 A16 or B15 B16 or C16 The other side of the limit switch would be wired to XT1 terminal 206 For the input to work 0 VDC of the source voltage would have to be connected to...

Страница 293: ...tware System board time intervals or 1 5 ms hardware plus 2ms software DigitalOutputsTechnicalData Optically isolated and short circuit protected Voltage supply 24 VDC 19 35 VDC Minimum voltage drop o...

Страница 294: ...ut to work 0 V of the source voltage would have to be connected to XTXX terminal44 Eachinputhasaseparateneutralconnected on each of the even numbered terminals Example DigitalOutput If a light is to b...

Страница 295: ...down button is pressed the display will scroll down showing all other inputs and eventually outputs also The I O will be displayed in alphanumeric order which means that 11 comes after 1 When you scr...

Страница 296: ...Electrical TroubleshootingGuide IRB6400M94A Page 11 20 Inputs Outputs NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 297: ...4 Combi I O boardDSQC 315 Swing gate front Sheet 21 1 and Sheet 21 2 11 4 Remote I O boardDSQC 209 Swing gate front Sheet 23 11 4 External connections Conn option 31X Control back Sheet 19 1 through S...

Страница 298: ...Electrical TroubleshootingGuide IRB6400M94A Page 11 22 Inputs Outputs NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 299: ...19 5 of 43 8 DIG COMBI DIG I O BD O P PART 20 1 of 43 9 RELAY UNIT OUTPUT 1 8 20 2 of 43 10 RELAY UNIT OUTPUT 9 16 20 3 of 43 11 120 VAC OUTPUT 20 4 of 43 12 DIG PART OF COMBI I O O P PART 20 5 of 43...

Страница 300: ...Electrical TroubleshootingGuide IRB6400M94A Page 11 24 Inputs Outputs NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 301: ...bleshootingGuide IRB 6400M94A Figure 11 1 XS3 XT3 11 6 ComponentLocationFigures XS3 XT3 D C B A 1 2 3 4 5 6 7 8 9 10 11 1 2 13 14 15 16 24 VDC 0VD C Artisan Technology Group Quality Instrumentation Gu...

Страница 302: ...Inputs Outputs Page11 42 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 303: ...gGuide IRB 6400M94A Figure 11 2 Screw Terminals 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Artisan Technology Group Quality Instrume...

Страница 304: ...Inputs Outputs Page11 44 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 305: ...43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 2 3 4...

Страница 306: ...Inputs Outputs Page11 46 Electrical TroubleshootingGuide IRB6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 307: ...APPENDIX A ERROR MESSAGES ERROR MESSAGES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 308: ...s A 3 A3 Error Codes A 7 A3 1 Operational Error Messages A 7 A3 2 System Error Messages A 9 A3 3 Hardware Error Messages A 16 A3 4 Programming Error Messages A 35 A3 5 Motion Error Messages A 59 A3 6...

Страница 309: ...error e g Hardware Reason Describes the reason for the error in plain language See the next section of this manual for more information on hardware errors MessageLog The 50 most recent errors are dis...

Страница 310: ...uired to press the OK button to acknowledge the change of state or press the CANCEL button which will cause a message indicating that the key switch must be changed to another mode The purpose for thi...

Страница 311: ...d chance for the programmer to abort from what is about to happen Warnings are only given while pressing buttons on the teach pendant There are two responses to a warning YES which acknowledeges that...

Страница 312: ...each pendant When an error message is displayed an error number is displayed along with the type of error on the top line of the display Also displayed will be a basic description of the error The bot...

Страница 313: ...ress the VIEW button then choose LOG The log is divided into several catagories The first is the common log which records the last 50 messages of all types The rest are the different catagories of err...

Страница 314: ...atement list 15008 Cannot execute backward past structured statement 10007 Program started The task instance f has started the execution The originator is f 10008 Program restarted The task instance f...

Страница 315: ...updated Chapter 10 10033 All axes synchronized Chapter 10 10034 Axis not commutated Chapter 10 10035 Axis not calibrated Chapter 10 10036 Rev counter not updated Chapter 10 10037 Axis not synchronize...

Страница 316: ...op Chapter 5 There is a limit stop in the system 20006 Auto stop Chapter 5 There is a auto stop in the system 20007 Manual stop Chapter 5 There is a Manual stop in the system 20008 General stop Chapte...

Страница 317: ...hange was not received within the expected time 20025 Stop order timeout The stop order was carried out as a force guard stop when no acknowledgement was received within the expected time 20030 Axis n...

Страница 318: ...Not allowed command Chapter 5 Not allowed in Auto mode 20061 Not allowed command Chapter 5 Not allowed when changing to Auto mode 20062 Not allowed command Chapter 5 Not allowed in Manual mode 20063 N...

Страница 319: ...t commutated 20081 Not allowed command Chapter 10 1234567890123456789012345678901234567890 Not allowed when axis is not calibrated 20082 Not allowed command Chapter 10 Not allowed when axis rev counte...

Страница 320: ...e motion server Stop the program and perform the command again 20114 Pgm 3 in ctrl The program server 3 is in control of the motion server Stop the program and perform the command again 20115 Pgm 4 in...

Страница 321: ...allowed 20145 Stop cycle rejected User s Guide Stop of program cycle via System IO not allowed 20146 Man interrupt rejected User s Guide Manual interrupt of program via System IO not allowed 20147 Loa...

Страница 322: ...Signal name might not be in the cfg file for Sysio 20152 To many restrictions User s Guide For an action signal in Sysio no restrictions are set The total number of restrictions signals for an action...

Страница 323: ...ted data 1 Check communication parameters 2 Replace robot computer board 31116 Overflow error in serial channel 1 Chapter 2 1 Check communication parameters 2 Replace robot computer board 31117 Parity...

Страница 324: ...l channel 7 Chapter 2 1 Check communication parameters 2 Replace robot computer board 31130 Port error Chapter 2 Replace robot computer board 31203 Floppy Disk Error Chapter 3 Bad floppy disk or not f...

Страница 325: ...Chapter 3 Data error 31222 Floppy Disk Error Chapter 3 Internal error Overrun 31223 Floppy Disk Error Chapter 3 Bad floppy or internal error 31224 Floppy Disk Error Chapter 3 Floppy write protected 3...

Страница 326: ...r board 31405 Prom not including axis program Chapter 2 Replace proms on robot computer board 31406 Memory error in axis computer Chapter 2 Replace robot computer board 31407 Axis computer error Chapt...

Страница 327: ...r error in ROBOT COMPUTER Chapter 2 Replace robot computer board 31420 DMA transfer error in ROBOT COMPUTER Chapter 2 Replace robot computer board 31421 Error in IO COMPUTER Chapter 2 Replace robot co...

Страница 328: ...mputer board 31701 Serial channel f overrun error Chapter 2 1 Check communication parameters 2 Replace robot computer board 31702 Serial channel 2 overrun error Chapter 2 1 Check communication paramet...

Страница 329: ...t computer board 31710 Serial channel 8 parity error Chapter 2 1 Check communication parameters 2 Replace robot computer board 31711 Serial channel f framing error Chapter 2 1 Check communication para...

Страница 330: ...a 31734 Serial channel 2 error Chapter 2 Received data not equal transmitted data 31735 Serial channel 3 error Chapter 2 Received data not equal transmitted data 31736 Serial channel 5 error Chapter 2...

Страница 331: ...ory error in MAIN COMPUTER Chapter 2 Replace main computer board 32302 Memory error in MAIN COMPUTER Chapter 2 Replace main computer board 32303 Memory error in MAIN COMPUTER Chapter 2 Replace main co...

Страница 332: ...to miscellaneous error 33150 Axis Computer Int Error Chapter 2 Axis computer DSP was stopped with hw interrupt due to interrupt error 33151 Axis DSP Output Overflow Chapter 2 Axis computer DSP was st...

Страница 333: ...puter driver Axis computer driver did not return correct number of bytes 33202 Axis cpu Write Error Chapter 2 Error in writing to the axis computer driver Axis computer driver did not return correct n...

Страница 334: ...2 Replace robot computer board 33305 Error in axis computer memory Chapter 2 Replace robot computer board 33306 Error in drive unit jumper test Chapter 2 33307 Error in drive unit jumper test Chapter...

Страница 335: ...otor ON signal is not distributed through auxiliary contact 1 Restart system 2 Replace Motor On contactor or auxiliary contact 3 Replace system board 37002 Main computer software not downloaded or not...

Страница 336: ...uter board 37013 Main computer error Chapter 2 Replace main computer board 37014 Main computer error Chapter 2 Replace main computer board 37015 Main computer error Chapter 2 Replace main computer boa...

Страница 337: ...uter board 37025 Main computer error Chapter 2 Replace main computer board 37026 Main computer error Chapter 2 Replace main computer board 37027 Main computer error Chapter 2 Replace main computer boa...

Страница 338: ...uter board 37037 Main computer error Chapter 2 Replace main computer board 37038 Main computer error Chapter 2 Replace main computer board 37039 Main computer error Chapter 2 Replace main computer boa...

Страница 339: ...restart 38010 Serial Board not found Chapter 2 9 Serial measurement board f not found 38011 Data Transmission Error Chapter 2 9 Failure in transmission of data to from serial measurement board f 3801...

Страница 340: ...board 38020 Parallel Offset DA Error Chapter 9 Offset exceeds tolerance error D A converter on channel f on axes board 38021 Parallel Linearity DA AD Chapter 9 Linearity error in D A and A D converte...

Страница 341: ...Chapter 9 Shunt temperature too high 39007 Drive System Error Chapter 9 15V out of limit 39008 Drive System Error Chapter 9 Low current fault on drive unit f 39009 Drive System Error Chapter 9 Current...

Страница 342: ...onal argument value Only switch parameters maybe specified by name only Optional parameters of other types must be assigned a value Add a value 40005 Argument error User s Guide Optional argument at t...

Страница 343: ...tion error User s Guide Arraydimensionsmustbepositive Changethedimensionexpressiontoapositivenumber 40014 Data declaration error User s Guide Too many dimensions in array definition An array may have...

Страница 344: ...rator The allowed types for the operands of the operator are num pos and string for the operator num and pos Check the type of the operand 40022 Type error User s Guide Illegal type for operand of una...

Страница 345: ...of the operand 40030 Type error User s Guide Illegal type for operand of NOT operator The only allowed type for the operand of the NOT operator is bool Check the type of the operand 40031 Type error U...

Страница 346: ...ame ambiguous Global data must have names that are unique among all the global data global routines andmodulesintheentiretaskprogram Renamethedataorchangetheconflictingname 40038 Name error User s Gui...

Страница 347: ...ithin the module Rename the data or change the conflicting name 40045 Name error User s Guide Routine name ambiguous Routines must have names that are unique within the module Rename the routine or ch...

Страница 348: ...ser s Guide Assignment target must have value or semi value type The type of the data to be assigned a value must be a value or semi value type Data of non value types may only be Set by special type...

Страница 349: ...r User s Guide Place holder for parameter name not allowed in definition of named routine Complete the routine declaration or change the routine name to a place holder 40062 Data declaration error Use...

Страница 350: ...referred function is visible from this program position Make sure that all object names fulfill the naming rules regarding uniqueness 40070 Reference error User s Guide Label reference is ambiguous At...

Страница 351: ...than an optional parameter Change the name to refer to an optional parameter 40077 Reference error User s Guide Not optional parameter reference The specified name identifies an object other than an o...

Страница 352: ...ram position 40085 Reference error User s Guide Reference to unknown label The routine contains no label or other object with the specified name 40086 Reference error User s Guide Reference to unknown...

Страница 353: ...Instruction error User s Guide RAISE without expression only allowed in error handler Add an error number expression to the RAISE instruction 40095 Instruction error User s Guide RETRY only allowed in...

Страница 354: ...nstant value circular constant references Checkthatanyreferredconstantsarecorrectlydefined Ifso theprogramistoocomplex Try to rewrite the declarations 40104 Data declaration error User s Guide Cannot...

Страница 355: ...nly Make sure the argument expression is just a variable or variable parameter reference The variable may not be read only 40124 Argument error User s Guide Argument for INOUT parameter is not variabl...

Страница 356: ...URN instruction being executed Add a RETURN instruction specifying a function return value 40146 Value error User s Guide Negative operand not allowed TheMODoperatoronlyallowsnonnegativeoperands Chang...

Страница 357: ...ent as an argument for an INOUT or REF parameter 40155 Execution error User s Guide Unhandeled non fatal runtime error in task f See earlier warning f A non fatal runtime error has occurred but was no...

Страница 358: ...ninitializedbyCONNECT andthatthe interrupt has been defined using the IsignalDl or other interrupt definition instruction 40201 Name error User s Guide Duplicate name in sdb No two persistent data in...

Страница 359: ...ameter cannot be dimensioned Remove the array dimension specification or change the mode of the parameter 40210 Parameter error User s Guide switch parameter cannot be dimensioned 40211 Parameter erro...

Страница 360: ...ialization function must be specified 40219 Reference error User s Guide Not a data type name The specified name identifies an object other than a type 40220 Reference error User s Guide Not a value d...

Страница 361: ...ide 40502 Digital input break User s Guide 40503 Reference error User s Guide Device descriptor is s 40504 Parameter error User s Guide 40505 File access errors User s Guide 40506 System access error...

Страница 362: ...tionary TCP Add argument WObj for actual work object If not movement with stationary TCP change argument Tool to robot holds the tool 40601 Argument error User s Guide Undefined if robot holds the too...

Страница 363: ...long name Use max 16 character to specify the name of an mechanical coordinated unit 40610 Argument error User s Guide Argument WObj specify a mechanical unit name which is not activated or unknown in...

Страница 364: ...Guide Argument s contains an illegal interrupt number Input interrupt number is illegal because it has not been allocated by the instruction CONNECT 40619 Argument error User s Guide Argument s conta...

Страница 365: ...te given 40631 Instruction error User s Guide Too many move instructions in sequence with concurrent RAPID program execution 40632 Instruction error User s Guide No move instructions with concurrent R...

Страница 366: ...whentoomanymoveinstructionswerequeuedforexecution Restart is not possible Check Check the number of move instructions with concurrency Move the start point and start a new movement 50024 Corner path f...

Страница 367: ...50033 Commutation command error Chapter 9 An attempt was made to commutate the motors in MOTORS ON state Check Change to MOTORS OFF 50035 Synchronization error Chapter 10 Anattemptwasmadetosynchroniz...

Страница 368: ...easurement board 50055 Joint load error Chapter 9 Actual torque on joint s is higher than ordered Check May be caused by incorrect load data hardware error or to high acceleration 1 Check load data 2...

Страница 369: ...robot or too close to a singularity Check Change the destination position 50066 Robot not active Attempt to coordinate motion or calculate position of deactivated robot s Check Activate robot via the...

Страница 370: ...Decrease speed and or do not use close positions at high speed and or increase acceleration if below 100 50085 Too many user frames For mech_unit s more than one user frame has been defined Check Tak...

Страница 371: ...guration and activation of external Joints 50100 Configuration error There are more configuration or numerical errors in motion domain Check Correct previous ones and try again 50101 Configuration err...

Страница 372: ...for joint s 50133 Test signal error No test signals are available for the master robot 50134 Corr vector warning Sensor correction vector calculations failed due to previous error 50135 SoftAct not po...

Страница 373: ...n joint s Check Check and reducepayloadforarmand orwrist Reducejointworkingrangetodecreasestatictorque due to gravity 50141 Speed Zone or Jog error 1 Robot too close to singularity 2 MoveL to MoveJ co...

Страница 374: ...tected Check also if space on disk is enough 60004 Robot Hold confusion The used tool and the used work object cannot both in the same time be hold by robot or be stationary Check Check the robhold co...

Страница 375: ...to a floppy and examine reasons using an ordinary text editor 60012 No Parameters loaded There are no parameters in s Check Check the file s using an ordinary text editor 60013 Jogging not permitted J...

Страница 376: ...t 71003 Invalid unit Chapter 11 DescriptionReason Theunitspecifiedforthesignal sisnotspecifiedintheunitsection Check 1 Change the name of the unit 2 Add a new unit to the unit list 71004 Invalid signa...

Страница 377: ...oard s Too many boards for specified driver type Check 1 Change number of boards for the driver at driver configuration 71013 Wrong type of board Chapter 11 DescriptionReason Wrong type of board conne...

Страница 378: ...Duplicate cross signals Chapter 11 DescriptionReason The signal s appears both as FROM and as TO Check 1 The same signal can not be given for both FROM and TO 71022 Physical max too high Chapter 11 De...

Страница 379: ...1 For starting quarter 1 rack size must be less than 3 71030 Config out of range Chapter 11 DescriptionReason The RIO starting quarter and rack size is out of range for board s Check 1 For starting qu...

Страница 380: ...ected 71038 IO Cross depth to high Chapter 11 DescriptionReason The Cross connection in the same chain is too deep First signal name s Check 1 Make the Cross connection less deep 71039 Max instances o...

Страница 381: ...e the scaling statements 71049 Parameter Invert error Chapter 11 DescriptionReason Signal s This type of signal cant be inverted Check 1 Only digital signals can be inverted 71050 Signal for cross not...

Страница 382: ...APPENDIX B PARTS LISTS PARTS LISTS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 383: ...r s Panel B 3 B1 3 TeachPendant B 4 B1 4 ContactorUnit B 4 B1 5 Computer System B 4 B1 6 Drive System B 5 B1 7 Optional Units B 5 B1 8 Miscellaneous B 6 B2 Suggested Spare Parts List B 7 B2 1 Axis 1 B...

Страница 384: ...PartsLists Electrical TroubleshootingGuide IRB6400M94A AppendixB 2 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 385: ...475 600V FS1 1 Automatic fuse 3HAB 5107 1 4 pole 2 Fuse 5672 817 22 6 3A slow 5x20mm 1 Fuse 5672 817 19 3 15A B1 2 Operator sPanel Item Qty Name Art No Rem SA1 1 Operating mode selector 3HAA 3003 21 S...

Страница 386: ...B1 4 ContactorUnit Item Qty Name Art No Rem KM1 2 2 Contactor 3HAA 3003 19 MOTORS ON KM3 1 Contactor 3HAB 2425 1 Supervision KM4 1 Contactor 3HAA 3001 4 Brake AP60 1 Component unit 3HAB 2989 1 Varist...

Страница 387: ...LA 16 in 16 out 24VDC External connection To connection unit XT11 16 Connection unit Connection unit relay 3HAA 3003 33 3HAB 2067 1 Screw Terminals Screw Terminals AP11 1 Analog I O DSQC 209 YB 560 1...

Страница 388: ...681 1 30m Cable motor 3HAB 2687 1 30m XT5 Customer cable signal 3HAA 3560 HJA 7m XT6 Customer cable power 3HAA 3560 NNA 7m Customer cable signal 3HAB 3560 NVA 7m metal braid protection Customer cable...

Страница 389: ...Board Axis 1 3 All 1 B2 2 Axis 2 3 PartNumber Description RobotType Units 3HAA0001 ADY Brake Release Unit All 1 3HAB4040 001 Motor Axis 2 3 All except 2 25 1 3HAB4043 001 Motor Axis 2 3 2 25PE 75 1 3...

Страница 390: ...6 All 1 B2 5 Cables PartNumber Description RobotType Units 3HAA0001 YR Cable Axis 5 2 4m 1 3HAA0001 YS Cable Axis 5 2 8 100 3 0 All 1 3HAA0001 YT Cable Axis 6 2 4m 1 3HAA0001 YU Cable Axis 6 2 8 100 3...

Страница 391: ...r DSQC 300 1 3HAB2211 001 System Board DSQC 256 1 3HAB2221 001 Memory Board 2MB DSQC 312 1 3HAB2214 001 Combi I O Board S4 1 3HAB2219 001 Main Computer DSQC 306 1 3HAB2480 001 Flexdriver Unit 1 3HAB51...

Страница 392: ...PartsLists Electrical TroubleshootingGuide IRB6400M94A AppendixB 10 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 393: ...APPENDIX C CONNECTORS CONNECTORS CABLES CABLES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 394: ...C 10 C8 Power Cable Axis 6 C 11 C9 Signal Cable Axis 2 C 12 C10 Power Cable Axis 2 C 13 C11 Signal Cable Axis 3 C 14 C12 Power Cable Axis 3 C 15 C13 Control Cable Signal C 16 C14 Control Cable Power C...

Страница 395: ...Electrical TroubleshootingGuide IRB6400M94A Connectors Cables AppendixC 2 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 396: ...R3 MP3 Axis 3 Power Ctrl Cabinet XP2 3HAB2678 6 R1 SMB Robot Base Ctrl Cabinet XP1 3HAB2684 7 R1 MP Robot Base Ctrl Cabinet XP5 3HAA3560 NJF R1 CS Robot Base Ctrl Cabinet XP6 3HAA3560 NNF R1 CP Robot...

Страница 397: ...e Unit AP60 RV1 KM3 Motor Contactors AP60 RV2 KM2 AP60 RV4 KM2 AP60 V1 PT Duty Counter System Board Customer AP80 X35 XS3 XS18 AP41 XS1 Customer PTC System Board Drive AP9 XS1 AP41 XS1 Floppy Drive D1...

Страница 398: ...al Extension XP22 XS22 Ext Axis Con Sig Control Cable Pwr XS1 AP1 XS1 AP2 XS1 AP3 XS1 KM4 XP18 Z2 XP18 KM4 AP3 XS1 AP60 V3 XS22 Drive Axis Power Drive Axis Power Drive Axis Power Brake Contactor PTC F...

Страница 399: ...ixC 6 C3 MiscellaneousCables Computer Link XB1 3HAB 2807 7 AP80 X5 Data Ports Teach Pendant X1 3HAB 2103 7 X10 1 Teach Pendant Control Cabinet XS20 3HAA 3560 LXF XP20 Prog Unit Artisan Technology Grou...

Страница 400: ...l Description 1 3 0V EXC1 6 Y1 7 X1 10 EXC1 13 0V Y1 14 0V X1 Pin Signal Description A X1 B 0V X1 C Y1 D 0V Y1 E 0V EXC1 F EXC1 G Shield CONNECTORTYPE DB 15 BR 8 C4 SignalCable Axis1 3HAB 4250 1 Seria...

Страница 401: ...mConnectortoAxis5Resolver R3 FB5 R4 FB5 PIN Signal Description A X5 B 0V X5 C Y5 D 0V Y5 E 0V EXC5 F EXC5 G Shield Pin Signal Description 1 3 0V EXC5 6 Y5 7 X5 10 EXC5 13 0V Y5 14 0V X5 R3 FB5 R4 FB5...

Страница 402: ...4 MP5 PIN Signal Description A M5R1 B M5R2 C M5S1 D M5S2 E M5T1 F M5T2 G PE H PE J PTC M5 K PTC M5 L BU M BU Pin Signal Description 1 M5R1 2 M5R2 3 M5S1 4 M5S2 5 M5T1 6 M5T2 7 PE 8 PE 9 PTC M5 10 PTC...

Страница 403: ...ArmConnectortoAxis6Resolver R3 FB6 R4 FB6 Pin Signal Description 1 3 0V EXC6 6 Y6 7 X6 10 EXC6 13 0V Y6 14 0V X6 Pin Signal Description 1 3 0V EXC6 6 Y6 7 X6 10 EXC6 13 0V Y6 14 0V X6 R3 FB6 R4 FB6 CO...

Страница 404: ...r R3 MP6 R4 MP6 Pin Signal Description 1 M6R 2 M6S 3 M6T 4 PE 5 BU 6 BU Pin Signal Description 1 PTC M6 2 PTC M6 R4 PTC6 Pin Signal Description 1 M6R 2 M6S 3 M6T 4 PE 7 BU 8 BU 5 PTC M6 6 PTC M6 R3 MP...

Страница 405: ...7 0V Y2 7 0V EXC2 19 EXC2 1 9 X3 21 0V X3 10 Y3 22 0V Y3 8 0V EXC3 20 EXC3 R2 SMB1 4 X 4 R3 FB2 R2 SMB3 BR 8 Pin Signal Description A X2 B 0V X2 C Y2 D 0V Y2 E 0V EXC2 F EXC2 G Shield Pin Signal Descr...

Страница 406: ...ON LEFT SIDE Pin Signal Description A M2R1 B M2R2 C M2S1 D M2S2 E M2T1 F M2T2 G PE H PE J PTC M2 K PTC M2 L BU M BU Pin Signal Description 1 M2R1 2 M2R2 3 M2S1 4 M2S2 5 M2T1 6 M2T2 7 PE 8 PE 9 PTC M2...

Страница 407: ...mConnectortoAxis3Resolver R3 MP2 R3 MP2 R2 SMB3 R3 FB3 Pin Signal Description A X3 B 0V X3 C Y3 D 0V Y3 E 0V EXC3 F EXC3 G Shield Pin Signal Description 8 X3 15 0V X3 5 Y3 12 0V Y3 4 0V EXC3 11 EXC3 1...

Страница 408: ...3 LEFT SIDE R2 MP3 R3 MP3 Pin Signal Description A M3R1 B M3R2 C M3S1 D M3S2 E M3T1 F M3T2 G PE H PE J PTC M3 K PTC M3 L BU M BU Pin Signal Description 1 M3R1 2 M3R2 3 M3S1 4 M3S2 5 M3T1 6 M3T2 7 PE 8...

Страница 409: ...CI D RCI N E 0V F 24V J BATT K BATT L BATT M Pin Signal Description A RCO B RCO N C RCI D RCI N E 0V F 24V J BATT K BATT L BATT M XP2 R1 SMB CONNECTORTYPE BS 12 BR 12 1 2 3 3 2 2 1 1 4 4 5 5 6 6 9 9 8...

Страница 410: ...D14 M5R A15 M3S B15 OV BRAK C15 M3T D15 M5S A16 M3S B16 BRA P B C16 D16 Pin Signal Description Pin Signal Description Pin Signal Description Pin Signal Description A01 M1R B01 M3T C01 OV PTC D01 LIM B...

Страница 411: ...SP R CSR S CSS T CST U CSU V CSV W CSW X CSX Y CSY Z CSZ Pin Signal Description A CSA B CSB C CSC D CSD E CSE F CSF G CSG H CSH J CSJ K CSK L CSL M CSM N CSN P CSP R CSR S CSS T CST U CSU V CSV W CSW...

Страница 412: ...D CPD E CPE F CPF J CPJ K CPK L CPL M CPM PIN Pin Signal Description A CPA B CPB C CPC D CPD E CPE F CPF J CPJ K CPK L CPL M CPM H PIN XP6 R1 CP CONNECTORTYPE BR 19 BR 19 1 2 3 3 2 2 1 1 4 4 5 5 6 6 9...

Страница 413: ...C16 D16 Pin Signal Desc 1 B O N 2 B O N 3 OV BRAK 4 OV BRAK 5 BRA P B Pin Signal Desc 1 220V L1 2 0V N 3 PE R 1 CP R3 B U1 6 R3 X8 R2 FANISONLEFTSIDEOFROBOT R2 MP1 R2 MP2 R2 MP3 R2 MP4 R2 MP5 6 Pin Si...

Страница 414: ...P CSP R CSR S CSC T CST U CSU V CSV W CSW X CSX Y CSY Z CSZ Pin Signal Desc 1 CSA 2 CSB 3 CSC 4 CSD 5 CSE 6 CSF 7 CSG 8 CSH 9 CSJ 10 CSK 11 CSL 12 CSM 13 CSN 14 CSP 15 CSR 16 CSC 17 CST 18 CSU 19 CSV...

Страница 415: ...C2 10 EXC2 1 7 X6 14 0V X6 6 Y6 13 0V Y6 3 0V EXC2 10 EXC2 1 R3 FB4 Pin Signal Desc 1 M5R1 2 M5R2 3 M5S1 4 M5S2 5 M5T1 6 M5T2 7 PE 8 PE 9 PTC M5 10 PTC M5 11 12 Pin Signal Desc 1 M6R 2 M6S 3 M6T 4 PE...

Страница 416: ...CSZ Pin Signal Desc A CSA B CSB C CSC D CSD E CSE F CSF G CSG H CSH J CSJ K CSK L CSL M CSM N CSN P CSP R CSR S CSS T CST U CSU V CSV W CSW X CSX Y CSY Z CSZ R2 CS R3 CS Pin Signal Desc A CPA B CPB C...

Страница 417: ...CSC 4 CSD 5 CSE 6 CSF 7 CSG 8 CSH 9 CSJ 10 CSK 11 CSL 12 CSM 13 CSN 14 CSP 15 CSR 16 CSS 17 CST 18 CSU 19 CSV 20 CSW 21 CSX 22 CSY 23 CSZ Pin Signal Desc A CSA B CSB C CSC D CSD E CSE F CSF G CSG H C...

Страница 418: ...0 V1 TERM 5 PT TERM N AP60RV4 KM4 TERM TERM 3 A2 0V BC FS1 TERM 8 AP80 X32 BS 12 2 EN_DEV XS20 BR 12 D AP80 X32 BS 12 3 EN_DEV N XS20 BR 12 E AP80 X32 BS 12 5 24V XS20 BR 12 G AP80 X32 BS 12 8 0V XS20...

Страница 419: ...16 B16 C16 GS1 XS1 P 48 B24 0V XS3 AMP64 C15 GS1 XS1 P 48 Z22 0V KM1 TERM A16 GS1 XS1 P 48 D14 5V AP80 X22 BS 2 2 GS1 XS1 P 48 B16 XP18 BS18 8 GS1 XS1 P 48 B26 FREE END GS1 XS1 P 48 D10 EARTH PE TERM...

Страница 420: ...P80 X34 BS 24 19 SA 1 TERM 14 AUTO AP80 X34 BS 24 18 SA 1 TERM 13 24V AP80 X34 BS 24 24 SA 1 TERM 20 AUTO 1 XP17 BS 9 1 SA 1 TERM 22 MAN 1 XP17 BS 9 2 SA 1 TERM 24 MANFS1 XP17 BS 9 3 SA 1 TERM 26 AUTO...

Страница 421: ...REE END XS1 AMP64 D14 M5R FREE END XS1 AMP64 B6 M5R FREE END XS1 AMP64 D15 M5S FREE END XS1 AMP64 B7 M5S FREE END XS1 AMP64 D16 M5T FREE END XS1 AMP64 B8 M5T FREE END XS1 AMP64 B9 M6R FREE END XS1 AMP...

Страница 422: ...P64 D8 HOLD21 AP41 XS1 EDG 96 C7 XS3 AMP64 D9 HOLD22 AP41 XS1 EDG 96 C8 XS3 AMP64 B5 GSTOP2A AP41 XS5 EDG 96 5 XS3 AMP64 A5 GSTOP1A AP41 XS5 EDG 96 6 XS3 AMP64 A7 GSTOP1 AP41 XS1 EDG 96 A15 XS3 AMP64...

Страница 423: ...EN_DEV AP80 XS20 BS 12 2 XS20 BR 12 E EN_DEV N AP80 XS20 BS 12 3 XS20 BR 12 G 24V AP80 XS20 BS 12 5 XS20 BR 12 F 0V AP80 XS20 BS 12 8 XS20 BR 12 A PD1 AP80 XS20 BS 12 11 XS20 BR 12 B PD1 N AP80 XS20 B...

Страница 424: ...RM 8 AP80 X34 BS 24 6 MSTOP2 SA 1 TERM 10 AP80 X34 BS 24 5 0V SA 3 TERM X2 AP80 X35 BS 24 7 MSTOP 2 XS3 AMP64 B2 AP80 X35 BS 24 10 MSTOP 1 XS3 AMP64 A2 AP80 X35 BS 24 17 MAN FS AP41 XS1 EDG96 C11 AP80...

Страница 425: ...CHAIN1 KM3 33C28 KM1 TERM A1 0V GS1 XS1 P 48 Z22 KM1 TERM 44 INT KM3 TERM 34 KM2 TERM 1 L11 KM1 TERM 1 KM2 TERM 1 INT KM1 TERM 12 KM2 TERM 3 INT KM1 3 KM2 TERM 3 L21 KM1 TERM 3 KM2 TERM 3 INT KM3 TER...

Страница 426: ...INT XS1 AMP64 B15 XP18 BS18 11 0V INT XS1 AMP64 C1 XP18 BS 18 12 0V INT XS1 AMP64 B14 XP22 BSK18 3 PTC M7 XP22 BSK18 2 XP22 BSK18 9 LIMIT 2 XP22 BSK18 8 XP22 BSK18 10 LIMIT 1 XP22 BSK18 7 XS17 BS 9 1...

Страница 427: ...BS 12 8 XS3 AMP64 B12 EXT LIM2 Z2 TERM 3 XS3 AMP64 B13 EXT MON2A KM2 TERM 33 XS3 AMP64 B14 EXT MON2B KM2 TERM 34 XS3 AMP64 B3 0V AP80 X35 BS 12 21 XS3 AMP64 B4 ASTOP2 AP80 X35 BS 12 9 XS3 AMP64 B6 GS...

Страница 428: ...11 14 17 3 6 9 12 15 18 1 4 7 10 13 16 BS 18 BSK 18 1 2 3 4 FIL 4 1 14 13 25 1 9 8 15 1 6 5 9 DB 25 DB 15 DB 9 BS 36 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 3...

Страница 429: ...nnectors Cables AppendixC 36 Connectors Cont c b a 1 32 EDG 96 c b a 1 32 RIB 96 Z B D 2 32 P 48 4 6 8 10 12 14 16 18 20 22 24 26 28 30 17 B1 IDC 34 17 A1 Artisan Technology Group Quality Instrumentat...

Страница 430: ...B 6400M94A Connectors Cont BR 19 K J H G F E D C B A M L V U T S R P N A B C D E F G H J K L M N P R S T U V W X Z BR 23 Y A B C D L K J H M G F E BR 12 BR 8 F G A B H C D E Artisan Technology Group Q...

Страница 431: ...7 10 BS 12 2 5 8 11 3 6 9 12 1 4 7 10 2 6 10 14 18 22 3 7 11 15 19 23 1 5 9 13 17 21 4 8 12 16 20 24 BS 24 2 5 3 6 1 4 BS 6 2 1 BS 2 6 10 14 18 22 26 30 4 8 12 16 20 24 28 32 2 5 8 3 6 9 1 4 7 BS 9 DR...

Страница 432: ...AppendixC 39 Connectors Cables Electrical TroubleshootingGuide IRB 6400M94A NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 433: ...Electrical TroubleshootingGuide IRB6400M94A Connectors Cables AppendixC 40 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 434: ...APPENDIX D GLOSSARY GLOSSARY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 435: ...tate in which automatic operation can be initiated AUTOMATICOPERATION The time during which robots perform programmed task through unattended program execution AWARENESSBARRIER Physical and visual mea...

Страница 436: ...tuators EMERGENCYSTOP E STOP IEC204 1 10 7 A condition which overrides all other robot controls removes drive power from robot axis actuators stops all moving parts and removes power form other danger...

Страница 437: ...e personal physical harm HOLD TO RUNCONTROL ISO10218 EN775 3 2 7 A control which only allows movements during its manual actuation and which causes these movements to stop as soon as it is released IN...

Страница 438: ...part of the program MOTORSON OFF The state of the robot i e whether or not the power supply to the motors is switched on OPERATOR The person designed to start monitor and stop the intended productive...

Страница 439: ...ific set of movements and instructions to accomplish a task PROGRAMDATA Data than can be accessed in a complete module or in the complete program PROGRAMMODULE A module included in the robot s program...

Страница 440: ...ate the robot such that initiation of the robot motion from one source of control is only possible from the source and cannot be overwritten from another source SLOWSPEEDCONTROL A mode of robot motion...

Страница 441: ...f the tool coordinate system The position of the tooling activity position TRAPROUTINE The routine that defines what is to be done when a specific interrupt occurs VARIABLE Data that can be changed fr...

Страница 442: ...Electrical TroubleshootingGuide IRB6400M94A Page D 8 Glossary NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 443: ...APPENDIX E CIRCUIT DIAGRAMS CIRCUIT DIAGRAMS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 444: ...le of Contents E CIRCUIT DIAGRAMS E 3 E1 Sheet Numbering E 3 E2 Connector Labeling E 4 E3 ComponentLabeling E 5 E4 Sheet Referencing E 6 E5 Relay Labeling E 7 E6 Key Switch Contacts E 8 CircuitDiagram...

Страница 445: ...Electrical TroubleshootingGuide IRB6400M94A AppendixE 2 CircuitDiagrams NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 446: ...ter is used to help explain the symbology of the circuit diagrams used in this manual The figure below shows how each page is identified by a block in the lower right hand corner of each sheet Also sh...

Страница 447: ...ive XT Terminal strip XS Socket side of a connector female pin XP Pin side of a connector male pin SA Switches A SB Switches B TM Transformer Z Noise suppression device Connectoron DriveBackPlane E2 C...

Страница 448: ...unded Shield ConnectorX35 Pin24 CapacitorforNoise Suppression ConnectorX32 Pin 8 E3 ComponentLabeling Component labeling is very important because there are no wire numbers in the controller or robot...

Страница 449: ...ine 18 Reference to Wires L12 L22 L32 continue on sheets 10 line 19 11 line 19 and 12 line 20 E4 SheetReferencing When the circuit diagram goes from one sheet to another the wires are referenced using...

Страница 450: ...elayCoil KM2 CoilTerminalsA A2 KM2Contacts Terminal44 43 A2 A1 Terminal 44 E5 RelayLabeling The relays used in the robot are made by ABB The labeling of these relays is shown below When a relay termin...

Страница 451: ...ullSpeed Terminal Numbers onKeySwitch AutoMode Center Key Position is the secondsetofcontacts TerminalNumber E6 KeySwitchContacts There are five sets of contacts on the Mode Selector located on the fr...

Страница 452: ...abbreviations used in the Manipulator Circuit Diagrams M Motor B Brake PTC Positive Temperature Coefficient R Resolver G Battery Pack BU Brake Unit FB Feed back Unit SMB Serial Measurement Board Earth...

Страница 453: ...Electrical TroubleshootingGuide IRB6400M94A AppendixE 10 CircuitDiagrams NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 454: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 455: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 456: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 457: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

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Страница 460: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

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Страница 510: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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