ABB Controller IRC5 Compact

Start the robot system and turn the mode switch to manual mode.

Press the three-position enabling device to the middle position and then hold the enabling device in this position. While having eye contact with the manipulator, move the joystick slightly in any direction to disengage the brakes. This test is passed if the brakes are disengaged and the manipulator can be moved. If the event message 50056 Joint collision appears in the event log, the test is failed and the root cause of the failure must be found.

Release the three-position enabling device to engage the brakes. This test is passed if the event message 10012 safety guard stop state appears in the event log. If the event message 37101 Brake failure appears, the test is failed and the root cause of the failure must be found.

Sign off on the brake contactor K44 function test

DANGER! Before doing any work inside the cabinet, disconnect the mains power.

WARNING! The unit is sensitive to ESD. Inspect connectors and cabling to make sure they are securely fastened and cabling not damaged.

Inspect the system fans and ventilation holes on the surface of the cabinet to make sure they are clean.

After cleaning, temporarily turn the power supply to the controller on. Inspect the fans to make sure they function correctly. Turn the power supply back off.

Sign off on the controller inspection

Visual inspection of the emergency stop button for physical damage

Press the emergency stop button and check if the event message 10013 Emergency stop state appears in the event log

If the test failed, describe the issue

Release the emergency stop button and press the motors on button to reset the emergency stop state

Sign off on the emergency stop function test

Switch the mode switch to auto mode and run the robot

If failed, enter the root cause of the failure

Switch the mode switch to manual mode

If failed, enter the root cause of the failure

Switch the mode switch to manual full speed mode and run the program

If failed, enter the root cause of the failure

Sign off on the mode switch function test

Start the robot system and turn the mode switch to manual mode.

Press the three-position enabling device to the middle position and then hold the enabling device in this position.

Event message 10011 Motors ON state appears in the event log.

If the event message 37001 Motor on activation error appears, describe the root cause of the failure.

Release the three-position enabling device.

Event message 10012 safety guard stop state appears in the event log.

If the event message 90227 Motor contactor conflict appears, describe the root cause of the failure.

Sign off on the motor contactors function test.