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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
  47. Figure 3-2 Floppy Disk Drive
  48. Figure 3-3 Robot Calibration Position
  49. Power ON
  50. AC Power Distribution
  51. DC Power Distribution
  55. Figure 4-2 Inside Swing Gate
  56. Figure 4-3 Brake Push Buttons
  57. Figure 4-5 Operator's Panel
  58. Motor ON/Dual Run Chain
  59. Diagram 5-1 Computer System and System Board
  60. Manual (Reduced or Full) Speed Mode Circuit
  61. Run Chain 1 - Manual Stop Circuit
  62. Run Chain 1 - General Stop (GS) Circuit
  63. Run Chain 1 - Emergency Stop (ES) Circuit
  64. Run Chain 1 - Limit (LIM) Circuit
  65. Run Chain 1 - Completion
  66. Run Chain 2
  67. Run Chain 2 - Manual Stop Circuit
  68. Run Chain 2 - General Stop Circuit
  69. Run Chain 2 - Emergency Stop Circuit
  70. Run Chain 2 - Limit Circuit
  71. Run Chain 2 - Completion
  72. AUTO Mode Circuit
  77. Figure 5-3 System Board K1CR & K2CR
  78. Figure 5-6 Operator's Panel
  79. Figure 5-7 Power Unit
  80. Figure 5-8 R1.MP
  81. Figure 5-9 Teach Pendant
  82. Emergency Stop
  83. Emergency Stop - Run Chain 1
  84. Emergency Stop - Reset Circuit
  88. Figure 6-2 Computer System & System Board
  89. Figure 6-3 Back Plane AP80
  90. Figure 6-4 Operator's Panel
  91. Figure 6-5 Customer Connections XS3/XT3
  92. Power Unit
  93. Diagram 7-1 Rectifier Board
  97. Figure 7-3 K1CR & K2CR on System Board
  98. Brake Circuitry
  99. Manual Brake Release Circuit
  100. Motors ON Brake Release
  104. Figure 8-2 System Board
  105. Figure 8-3 Robot Brake Buttons
  106. Figure 8-4 Power System Board Connections
  107. Figure 8-5 Robot Axes
  108. Motor & Resolver Circuitry
  109. Computer
  110. Robot Computer
  111. Drive System Boards
  112. Drive Unit
  113. Motors
  114. Diagram 9-5 'Y' Motor Wiring Configuration
  115. Resolver
  120. Figure 9-2 Drive System Boards
  121. Figure 9-3 Robot Axis Motors
  122. Figure 9-4 Drive Connectors
  123. Calibration Procedures
  124. Rough" Resolver Calibration Procedure
  125. Manually Entering Calibration Values
  126. Precision Resolver Calibration Procedure
  127. Calibrating Axis 1
  128. Calibrating Axis 2-6
  129. Counter Updating Procedure
  130. Inputs & Outputs
  131. I/O Boards
  135. Board Connections
  136. External I/O Connections (Conn. option 31X)
  137. Internal I/O Connections (Conn. option 34X)
  138. Relay Unit (Conn. option 37X)
  139. VAC Modules (Conn. option 35X)
  140. Manually Operated I/O
  144. Figure 11-2 Screw Terminals
  145. Figure 11-3 120 VAC I/O Connector
  146. A. ERROR MESSAGES
  147. A2. Types of Error Messages
  148. A3. Error Codes
  149. A3.2 System Error Messages
  150. A3.3 Hardware Error Messages
  151. A3.4 Programming Error Messages
  152. A3.5 Motion Error Messages
  153. A3.6 Operator Error Messages
  154. A3.7 I/O & Communication Error Messages
  155. B. PARTS LISTS
  156. B1.3 Teach Pendant
  157. B1.6 Drive System
  158. B1.8 Miscellaneous
  159. B2. Suggested Spare Parts List
  160. B2.4 Upper Arm
  161. B2.6 Control
  162. C. CONNECTORS & CABLES
  163. C2. Control Cabinet Cables
  164. C3. Miscellaneous Cables
  165. C4. Signal Cable, Axis 1
  166. C5. Signal Cable, Axis 5
  167. C6. Power Cable, Axis 5
  168. C7. Signal Cable, Axis 6
  169. C8. Power Cable, Axis 6
  170. C9. Signal Cable, Axis 2
  171. C10. Power Cable, Axis 2
  172. C11. Signal Cable, Axis 3
  173. C12. Power Cable, Axis 3
  174. C13. Control Cable, Signal
  175. C14. Control Cable, Power
  176. C15. Customer Cable, Signal
  177. C16. Customer Cable, Power
  178. C17. Lower Cable Assembly
  179. C18. Upper Cable Assembly
  180. C19. Cable, Customer Connection
  181. C20. Cable, M94A
  182. C21. Cable, M94A Control Wiring X-Reference
  183. C22. Connectors
  184. E. CIRCUIT DIAGRAMS
  185. E2. Connector Labeling
  186. E3. Component Labeling
  187. E4. Sheet Referencing
  188. E5. Relay Labeling
  189. E6. Key Switch Contacts
  190. E7. Symbols and Abbreviations
ABB IRB6400 Electrical Troubleshooting Manual Manual pdf 412 page image
Appendix C - 19Connectors & CablesElectricalTroubleshooting GuideIRB-6400 M94AC16. Customer Cable, Power3HAA-3560-NNFCable runs from Control Cabinet to RobotPin Signal/DescriptionA CPAB CPBC CPCD CPDE CPEF CPFJ CPJK CPKL CPLM CPMPINPin Signal/DescriptionA CPAB CPBC CPCD CPDE CPEF CPFJ CPJK CPKL CPLM CPMH PINXP6 R1.CPCONNECTOR TYPE BR-19 BR-19123322114455 6699887700P121120XS13XS11XS10XS4XS5XS6XS1 4XS1 2XS7XS3XS1XS15 XS16XP5R1.CPArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
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