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ABB IRB6400 Electrical Troubleshooting Manual

Also see for S4: Manual

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Contents
  1. troubleshooting
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. Table Of Contents
  7. Table Of Contents
  8. D. GLOSSARY
  9. Safety
  10. General Safety
  11. Safety Features
  12. Safety Guidelines
  13. Safety During Maintenance
  14. Safety Control Chain of Operation
  15. Risks Associated with Live Parts
  16. Limitation of Liability
  17. Computer System
  18. System Description
  19. Diagram 2-2 Block Diagram
  20. Troubleshooting
  21. Diagnostics
  22. Board Descriptions
  23. Robot Computer DSQC 326
  24. Main Computer DSQC 316
  25. Power Supply Unit DSQC 258
  26. System Board DSQC 256A
  27. Digital I/O Board DSQC 223
  28. Combined I/O Board DSQC 315
  29. Analog I/O Board DSQC 209
  30. Remote I/O Board DSQC 239
  31. Axis Board DSQC 233
  32. Serial Measurement Board (SMB)
  33. Teach Pendant
  34. Component Cross Reference
  35. List of Circuit Diagrams
  36. Component Location Figures
  37. Figure 2-2 Connectors
  38. Figure 2-3 SMB
  39. Figure 2-5 Teach Pendant
  40. Loading System Software
  41. Floppy Disk
  42. Software Loading Procedure
  43. Parameter Loading Procedure
  44. Resolver Revolution Counter Update
  45. Figure 3-2 Floppy Disk Drive
  46. Figure 3-3 Robot Calibration Position
  47. Power ON
  48. AC Power Distribution
  49. DC Power Distribution
  50. Figure 4-2 Inside Swing Gate
  51. Figure 4-3 Brake Push Buttons
  52. Figure 4-5 Operator's Panel
  53. Motor ON/Dual Run Chain
  54. Diagram 5-1 Computer System and System Board
  55. Manual (Reduced or Full) Speed Mode Circuit
  56. Run Chain 1 - Manual Stop Circuit
  57. Run Chain 1 - General Stop (GS) Circuit
  58. Run Chain 1 - Emergency Stop (ES) Circuit
  59. Run Chain 1 - Limit (LIM) Circuit
  60. Run Chain 1 - Completion
  61. Run Chain 2
  62. Run Chain 2 - Manual Stop Circuit
  63. Run Chain 2 - General Stop Circuit
  64. Run Chain 2 - Emergency Stop Circuit
  65. Run Chain 2 - Limit Circuit
  66. Run Chain 2 - Completion
  67. AUTO Mode Circuit
  68. Figure 5-3 System Board K1CR & K2CR
  69. Figure 5-6 Operator's Panel
  70. Figure 5-7 Power Unit
  71. Figure 5-8 R1.MP
  72. Figure 5-9 Teach Pendant
  73. Emergency Stop
  74. Emergency Stop - Run Chain 1
  75. Emergency Stop - Reset Circuit
  76. Figure 6-2 Computer System & System Board
  77. Figure 6-3 Back Plane AP80
  78. Figure 6-4 Operator's Panel
  79. Figure 6-5 Customer Connections XS3/XT3
  80. Power Unit
  81. Diagram 7-1 Rectifier Board
  82. Figure 7-3 K1CR & K2CR on System Board
  83. Brake Circuitry
  84. Manual Brake Release Circuit
  85. Motors ON Brake Release
  86. Figure 8-2 System Board
  87. Figure 8-3 Robot Brake Buttons
  88. Figure 8-4 Power System Board Connections
  89. Figure 8-5 Robot Axes
  90. Motor & Resolver Circuitry
  91. Computer
  92. Robot Computer
  93. Drive System Boards
  94. Drive Unit
  95. Motors
  96. Diagram 9-5 'Y' Motor Wiring Configuration
  97. Resolver
  98. Figure 9-2 Drive System Boards
  99. Figure 9-3 Robot Axis Motors
  100. Figure 9-4 Drive Connectors
  101. Calibration Procedures
  102. Rough" Resolver Calibration Procedure
  103. Manually Entering Calibration Values
  104. Precision Resolver Calibration Procedure
  105. Calibrating Axis 1
  106. Calibrating Axis 2-6
  107. Counter Updating Procedure
  108. Inputs & Outputs
  109. I/O Boards
  110. Board Connections
  111. External I/O Connections (Conn. option 31X)
  112. Internal I/O Connections (Conn. option 34X)
  113. Relay Unit (Conn. option 37X)
  114. VAC Modules (Conn. option 35X)
  115. Manually Operated I/O
  116. Figure 11-2 Screw Terminals
  117. Figure 11-3 120 VAC I/O Connector
  118. A. ERROR MESSAGES
  119. A2. Types of Error Messages
  120. A3. Error Codes
  121. A3.2 System Error Messages
  122. A3.3 Hardware Error Messages
  123. A3.4 Programming Error Messages
  124. A3.5 Motion Error Messages
  125. A3.6 Operator Error Messages
  126. A3.7 I/O & Communication Error Messages
  127. B. PARTS LISTS
  128. B1.3 Teach Pendant
  129. B1.6 Drive System
  130. B1.8 Miscellaneous
  131. B2. Suggested Spare Parts List
  132. B2.4 Upper Arm
  133. B2.6 Control
  134. C. CONNECTORS & CABLES
  135. C2. Control Cabinet Cables
  136. C3. Miscellaneous Cables
  137. C4. Signal Cable, Axis 1
  138. C5. Signal Cable, Axis 5
  139. C6. Power Cable, Axis 5
  140. C7. Signal Cable, Axis 6
  141. C8. Power Cable, Axis 6
  142. C9. Signal Cable, Axis 2
  143. C10. Power Cable, Axis 2
  144. C11. Signal Cable, Axis 3
  145. C12. Power Cable, Axis 3
  146. C13. Control Cable, Signal
  147. C14. Control Cable, Power
  148. C15. Customer Cable, Signal
  149. C16. Customer Cable, Power
  150. C17. Lower Cable Assembly
  151. C18. Upper Cable Assembly
  152. C19. Cable, Customer Connection
  153. C20. Cable, M94A
  154. C21. Cable, M94A Control Wiring X-Reference
  155. C22. Connectors
  156. E. CIRCUIT DIAGRAMS
  157. E2. Connector Labeling
  158. E3. Component Labeling
  159. E4. Sheet Referencing
  160. E5. Relay Labeling
  161. E6. Key Switch Contacts
  162. E7. Symbols and Abbreviations
/ 510
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This manual is suitable for:
S4IRB6400
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