The control of the ABB robot is composed of modules with different functions, and each module has a status indicator to facilitate us to judge the working status of the module. This time we will take a look at the meaning of each status of each module indicator in the ABB robot control cabinet, so that we can better help us troubleshoot the fault through the status of the module indicator when the robot fails.
Main computer module
Main computer module The main computer module is like the brain of a robot located directly in front of the control cabinet, and is responsible for various operations of the robot.
| Indicator name |
Indicator status |
Status meaning |
| POWER |
Go out |
During normal startup, the COM fast module in the computer unit does not start |
| Long bright |
Normal startup completed |
|
| 1-4 flashes for 1 second and goes out |
Encountered a failure during startup, it may be that the power supply, FPGA or COM fast mode goes out |
|
| Short flashes at 1-5 and fast flashes at 20 times |
Power failure during operation. Please restart the control cabinet and check the main computer voltage |
|
| DISC-Act |
Flashing |
SD card is being read and written |
| STATUS |
Steady red at startup |
Loading BootLoader |
| Flashing red at startup |
Loading mirror data |
|
| Flashing green at startup |
Loading Robotware |
|
| Steady green at startup |
System startup is complete |
|
| Red solid or flashing |
Check SD card |
|
| Flashing green |
Check the information prompt on the teach pendant |
Security Panel Module
The safety module is mainly responsible for safety-related signal processing.
| Indicator name |
Indicator status |
Status meaning |
| Epwr |
Flashing green |
Serial communication error, check the communication connection with the host computer |
| Steady green |
Operating normally |
|
| Flashing red |
System power-on self-check |
|
| Steady red |
An error other than serial communication error occurred |
|
| EN1 |
Long bright |
Signal ENABLE1=1 and RS communication is normal |
| AS1 |
Long bright |
Automatic stop 1 normal |
| AS2 |
Long bright |
Automatic stop 2 normal |
| GS1 |
Long bright |
Routine stop 1 normal |
| GS2 |
Long bright |
Normal stop 2 normal |
| SS1 |
Long bright |
Superior stop 1 normal |
| SS2 |
Long bright |
Superior stop 2 normal |
| ES1 |
Long bright |
Emergency stop 1 is normal |
| ES2 |
Long bright |
Emergency stop 2 is normal |
Drive unit module
The drive unit module is used to receive instructions from the host computer and then drive the robot to move.
| Indicator name |
Indicator status |
Status meaning |
| X8 IN |
Flashing yellow |
Communicating with host computer Ethernet |
| Yellow light |
Ethernet channel has established a connection |
|
| Yellow light off |
Disconnected from the Ethernet channel of the host computer |
|
| Green light off |
Ethernet communication rate is 10Mbps |
|
| Steady green |
Ethernet communication rate is 100Mbps |
|
| X9 IN |
Flashing yellow |
Communicating with host computer Ethernet |
| Yellow light |
Ethernet channel has established a connection |
|
| Yellow light off |
Disconnected from the Ethernet channel of the host computer |
|
| Green light off |
Ethernet communication rate is 10Mbps |
|
| Steady green |
Ethernet communication rate is 100Mbps |
Axis computer module
The axis computer unit module is used to receive the motion instructions of the host computer and the robot position feedback signal of the serial measurement board (SMB), and then send instructions to drive the robot to the drive unit module.
| Indicator name |
Indicator status |
Status meaning |
| Status Indicator |
Steady red |
During startup, powering up During operation, the axis computer cannot initialize the basic hardware |
| Flashing red |
启动期间，建立与主计算机的连接并将程序加载到轴计算机 运行期间，与主计算机的连接丢失、主计算机启动问题或者Robotware安装有问题 |
|
| 绿色闪烁 |
启动期间，轴计算机程序启动并连接外围单元 运行期间，与外围单元的连接丢失或者Robotware启动有问题 |
|
| 绿色长亮 |
启动期间，启动过程中 运行期间，正在运行 |
|
| 不亮 |
轴计算机没有电或者内部错误（硬件/软件） |
系统电源模块
系统电源模块用于为控制柜里的模块提供直流电源。
| 指示灯名称 |
指示灯状态 |
状态含义 |
| 状态指示灯 |
绿色长亮 |
正常 |
| 不亮 |
直流电源输出异常或输入异常 |
电源分配模块
电源分配模块用于为控制柜里的模块分配直流电源
| 指示灯名称 |
指示灯状态 |
状态含义 |
| 状态指示灯 |
绿色长亮 |
正常 |
| 不亮 |
直流电源输出异常或输入异常 |
用户IO电源模块
用户IO电源模块用于为控制柜里的IO模块提供直流电源。
| 指示灯名称 |
指示灯状态 |
状态含义 |
| 状态指示灯 |
绿色长亮 |
正常 |
| 不亮 |
直流电源输出异常或输入异常 |
接触器模块
接触器模块用于控制机器人各轴电机的上电与控制机制。
| 指示灯名称 |
指示灯状态 |
状态含义 |
| 状态指示灯 |
绿灯闪烁 |
串行通信错误 |
| 绿色长亮 |
正常 |
|
| 红色闪烁 |
正在上电/自检模式 |
|
| 红色长亮 |
出现错误 |
IO模块故障诊断
标准IO模块用于机器人与外部设备进行通讯。
下表以ABB标准IO版DSQC652板为例
| 指示灯名称 |
指示灯状态 |
状态含义 |
| MS |
熄灭 |
无电源输入 |
| 绿色长亮 |
正常 |
|
| 绿色闪烁 |
系统参数有问题，详情见示教器提示 |
|
| 红色闪烁 |
轻微故障，详情见示教器提示 |
|
| 红/绿闪烁 |
自检中 |
|
| NS |
熄灭 |
无电源输入或未能完成Dup_MAC_ID测试 |
| 绿色长亮 |
正常 |
|
| 绿色闪烁 |
模块上线了，但未能与其他模块建立连接 |
|
| 红色闪烁 |
连接超时，详情见示教器提示 |
|
| 红色长亮 |
通讯出错，可能由于DuplicateMAC_ID或者Bus_off |
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