I need config for abb irb 6400/f/2.4-150e s4

wowa_wa · February 10, 2022 at 8:42 PM

I need help.

I bought a robot.

Man order: 099618

Ref.No R6411380009

Serial No 6400-4988

ELMO drives are installed on all axes, for example 5 axes

Type: PS 130/6-50-P-PMB-3739

Art.No. 3 HAB 4042-1/5

Serial No. 605.5890540

DSQC223 2pcs

DSQC315

DSQC256A

DSQC335 is robot computer 4911014 SDG D63L and SBV D62H

DSQC325 is the main computer

DSQC317 is 6MB

DSQC314B is DC-LINK

DSQC236 drive boards with different letters

I have disk:

Program no 3HAB2319-1/08 IRB 6400 Elmo/Siemens 2.0

Program no 3HAB2319-3/05 IRB 6400 M96 2.0

Program no 3HAB2342-1/04 IRB 6400 2.1

Program no 3HAB2340-1/04 IRB 6400 Elmo/Siemens 2.1

I can not find the correct configuration with the dс-link I need DSQC314B.

does anyone have the disk i need?

Skooter · February 12, 2022 at 2:32 AM

First > welcome to the forum and I'm very impressed by your level of detail.

It depends on the version of software:

If you are using 2.0 RobotWare for the M94A with Elmo motors, then use the 3HAB2319-1 IRB6400 disks

If you are using 2.1 BaseWare, then use the 3HAB2340-1 IRB6400 disks

Loading any IRB6400 disk automatically selects the larger DSQC314B DC-link required for the IRB6400.

Be aware that the encoded serial # on the IRB disks needs to match the serial number of the core software set loaded in the controller or it will error.

Is there a specific problem where it is not automatically loading the correct DC-Link?

wowa_wa · February 12, 2022 at 10:24 PM

I have already collected many different discs. On the Internet and in the support of abb.

Found this table.

What is the difference between the software, I don’t know which one is better to install.
There are disks:
3HAB2316-1/13 Basic 2.0 installation failure
3HAB2317-1/08 Basic CommWare 2.0 installed normally
3HAB2333-1/07 BaseWare OS 2.1 installed normally
3HAB2333-1/08 BaseWare OS 2.1 installation failure

On disk 3HAB2319-3/05 all drivers with dc_link" -type "DSQC_249B"

On disk 3HAB2342-1/04 all drivers with dc_link" -type "DSQC_249B"

On disk 3HAB2340-1/04 and 3HAB2319-1/05 and 3HAB2319-1/08 there is a driver for dc_link" -type "DSQC_314C"

M642275I.CFG

Code

#IRB6400PE_225_75
echo -text "Installing IRB 6400PE/2.25-75 Elmo"
install -resource Function -name "IRB" -descr "6400PE/2.25-75 Elmo"
config -filename  flp1:/irbcfg/m642275s.cfg -domain MOC -internal
config -filename  flp1:/irbcfg/m642275i.cfg -domain MOC -internal
config -filename  flp1:/irbcfg/m642275e.cfg -domain MOC
goto -label NEXT_STEP

and S642275I.CFG

Code

#IRBS6400PE_225_75
echo -text "Installing IRB 6400PE/2.25-75 Siemens"
install -resource Function -name "IRB" -descr "6400PE/2.25-75 Siemens"
config -filename  flp1:/irbcfg/s642275s.cfg -domain MOC -internal
config -filename  flp1:/irbcfg/s642275i.cfg -domain MOC -internal
config -filename  flp1:/irbcfg/s642275e.cfg -domain MOC
goto -label NEXT_STEP
#NEXT_STEP

But the configuration is for a different type of robot, if I choose it, then I have errors
50142 Manipulator config error
10014 System failure state
10002 Program reset

If you select 2.4-120 then I get one of the errors
33107 Incorect Dc-Link type

Does anyone have the correct drivers?

There is an idea to change in the file, but I think it will not work, since there are 3 configuration files, and I can only change in 2

What should be selected on the question when installing a standard or a service?

sjx · February 13, 2022 at 12:43 AM

DC-Link 249B and DSQC314B are normally compatible with the same Typcode.

Check, is really installed a Type-B version.

Quote from wowa_wa

What should be selected on the question when installing a standard or a service?

Service is normally only when you have external axis.

Quote from wowa_wa

What is the difference between the software, I don’t know which one is better to install.
There are disks:

In your case, I would choose:

3HAB2333-1/07 BaseWare OS 2.1 installed normally

Version 8 from Robware 2.1 needs normally other PROMS.

IRB-Disk:

3HAB2340-1_04 Elmo-Siemens 2.1

Choose:

Choose ELMO:

correct file installed should be:

#IRB6400_24_150

echo -text "Installing IRB 6400/2.4-150 Elmo"

install -resource Function -name "IRB" -descr "6400/2.4-150 Elmo"

config -filename flp1:/irbcfg/m642415s.cfg -domain MOC -internal

config -filename flp1:/irbcfg/m642415i.cfg -domain MOC -internal

config -filename flp1:/irbcfg/m642415e.cfg -domain MOC

wowa_wa · February 13, 2022 at 10:42 PM

Quote from sjx

DC-Link 249B and DSQC314B are normally compatible with the same Typcode.
Check, is really installed a Type-B version.

Yes, there is really installed a Dc-Link DSQC314B board 3HAB2216-1

Correctly I understand that you suggest me to set the BSW 2.1 M96 configuration as in the picture.

Maybe you have a wiring diagram and technical, manual documentation for the operator panel M10C7133232TWFWX131?

There are installed programs S4 Tophat, Robcomm Dispatcher and others.Searched for config files on the panel but didn't find.

wowa_wa · February 14, 2022 at 9:47 AM

Установка проходит хорошо.

3HAB2333-1/07 ОС BaseWare 2.1

3HAB2356-1/03 Обучение подвесному тексту 2.1

3HAB2340-1/04 Установка IRB 6400/2.4-150 Elmo

3HAB2344-1/00 Расширенные функции 2.1

После установки контроллер не используется. Просто посетите

При установке неверный id на первом диске.

3HAB2317-1/13 Базовая версия CommWare 2.0

А на диске 3HAB2333-1/07 BaseWare OS 2.1 установлена нормально.

Skooter · February 15, 2022 at 2:30 AM

Quote from wowa_wa

3HAB2333-1/07 ОС BaseWare 2.1
3HAB2356-1/03 Обучение подвесному тексту 2.1
3HAB2340-1/04 Установка IRB 6400/2.4-150 Elmo
3HAB2344-1/00 Расширенные функции 2.1

Yes. This is a disk set for BaseWare 2.1 M94A (Elmo) IRB6400/2.4-150

wowa_wa · February 15, 2022 at 1:26 PM

Quote from Skooter

Yes. This is a disk set for BaseWare 2.1 M94A (Elmo) IRB6400/2.4-150

Installation goes very well.

After installing these disks, the controller freezes on reboot and I can't do anything.

Just don't load!

SomeTekk · February 15, 2022 at 2:01 PM

Spitballing here:

Try only:

3HAB2317-1/13

3HAB2331-1/00

3HAB2319-1/08

Perhaps contact with ABB is order to ensure the PROMS being used are correct.

It looks like someone was kind enough to send you ABB WebConfig info about your system. The mention of S4 TopHat indicates this was a GM robot at some point.

Skooter · February 16, 2022 at 2:38 AM

-SBV & -SDG EPROMs will work for versions 2.0, 2.1, 3.0

Are you loading Stand(ard)?

It passes the cold-start hardware tests?

On problem units, I would pull all 3 computer boards for 2 minutes (careful of the brittle plastic) and try again.

Perhaps time for 'PC as a service tool' and see where it's hanging up.

wowa_wa · February 17, 2022 at 5:58 PM

Installed disks:

3HAB2333-1/07 BaseWare OS 2.1

3HAB2356-1/03 Teach Pendant Text 2.1

3HAB2340-1/04 IRB 6400 Elmo/Siemens 2.1

Code

*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
ram1disk: initialized.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Status 0 from memsize 
Pool : 2060000
Status 0 from memsize 
Status 0 from eiosetup 
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
Status 0 from init 
Status 0 from new 
status = 0 
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
Status 0 from init 
Status 0 from config 
Status 0 from task 
Status 0 from task 
Status 0 from synchronize 
Status 0 from go 
Status 0 from init 
root_malloc 824 for mecmap
Status 0 from init 
Status 0 from init 
tpi_connect
Status 0 from teachpendant 
Status 0 from registrate 
Status 0 from setvar 
Installation start ...
Status 0 from echo 
Select Service/Standard motion param:
Status 0 from echo 
  Stand                       Service 
10
10
Status 0 from query 
Status 0 from task 
Installing system config files
Status 0 from echo 
Status 0 from config 
Status 0 from config 
Status 0 from if 
Status 0 from config 
Status 98765 from goto 
Status 0 from config 
Installing RAPID
Status 0 from echo 
Status 0 from text 
Status 0 from new 
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
Status 0 from reconfigure 
Status 0 from reconfigure 
Status 0 from synchronize 
Status 0 from go 
Installing ramdisk files
Status 0 from echo 
Status 0 from copy 
Teach Pendant Language
Status 0 from echo 
0 - English
Status 0 from echo 
1 - Swedish
Status 0 from echo 
2 - German
Status 0 from echo 
3 - Francais
Status 0 from echo 
4 - Spanish
Status 0 from echo 
5 - Italian
Status 0 from echo 
6 - Dutch
Status 0 from echo 
7 - Japanese (Katakana)
Status 0 from echo 
8 - Czech
Status 0 from echo 
0
0
Status 0 from query 
 
Status 0 from echo 
Status 98765 from if 
Installing English text files
Status 0 from echo 
Status 0 from setstr 
Status 0 from setstr 
Status 98765 from goto 

Status 0 from echo 
Insert TP text disk(1) and press ok:
Status 0 from echo 
                                  OK  
50
50
Status 0 from query 
Status 98765 from fileexist 
Status 98765 from fileexist 
Status 0 from text 

Startup ready 
Status 0 from include 
 
Status 0 from echo 
Insert IRB disk(1) and press ok:
Status 0 from echo 
                                  OK  
-1
50
50
Status 0 from query 
Status 98765 from fileexist 

Status 0 from echo 
IRB 6400 Elmo/Siemens S4 2.1
Status 0 from echo 

Status 0 from echo 
Select IRB6400 model :
Status 0 from echo 
2.25-75 2.4-120 2.4-150 2.8-120   SCAN
20
20
Status 0 from query 
Status 0 from if 
Status 98765 from if 
Select IRB6400 motor type alternative :
Status 0 from echo 
Check the label of motor at axis 4
Status 0 from echo 
if you are not sure what to select
Status 0 from echo 

Status 0 from echo 
 Elmo  Siemens                     
10
10
Status 0 from query 
Status 98765 from if 
Status 0 from if 
Status 98765 from if 
Installing IRB 6400/2.4-120 Elmo
Status 0 from echo 
Status 0 from install 
Status 0 from config 
Status 98765 from goto 
 
Status 0 from echo 

Startup ready 
Status 0 from include 

Status 0 from echo 
Any Option disk to install?
Status 0 from echo 
                          NO     YES  
40
40
Stat*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:03:22 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:03:22 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
root_malloc 1000000 for cab

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_1

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_2

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_3

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_4

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_5

94-01-01  10:03:23 type = ERROR id = MOTION code = 57
arg 0: irb_6

SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792

Bus Error
Program Counter: 0x001b6e4e
Status Register: 0x3004
Access Address : 0x00000110
Special Status : 0x0485
Task: 0x6c17a8 "cabts"
SYS FAIL - from tsksup.c
,115
94-01-01  10:03:23 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:23 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:23 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:23 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:23 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:23 tsksup.c 114 Bus error: task cabts vector 2

Display More

As you can see, it doesn't load.

after power off

Code

IPCERR:ipc_sendwait, wait for message:

>From30(sysevtts)to17(cabts):cmd=24:size=92:(-9;timed out or param error)
SYS FAIL - from sysevtts.c,836
SYS FAIL - from sysevtts.c,517

94-01-01  10:05:22 sysevtts.c 837 Unable to install MotorOn restriction routine, status = -9

*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:07:08 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:07:08 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792
root_malloc 1000000 for cab
SYS FAIL - from cabts.c,6259

Bus Error
Program Counter: 0x0015d4d2
Status Register: 0x3000
Access Address : 0x00000004
Special Status : 0x0505
Task: 0x6c17a8 "cabts"
SYS FAIL - from tsksup.c,115

94-01-01  10:07:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:07:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:07:09 cabts.c 3441 Not implemented in a not defined start mode ,67
94-01-01  10:07:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:07:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:07:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:07:09 cabts.c 6259 mecmap new failed
94-01-01  10:07:09 tsksup.c 114 Bus error: task cabts vector 2

Display More

sjx · February 17, 2022 at 7:03 PM

Main Computer:

What typ do you have really ?

DSQC 306 is not compatible with RW2.1

SomeTekk · February 17, 2022 at 7:10 PM

Over the years I learned, I am not certain of the reliability of my learning , that when errors were encountered.

SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792

there was a problem with the measuring system. I recall that the sys halt stuff was a problem in the axis computer, cabling, or SM Board.

Also, this text

94-01-01 10:03:22 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 SYS FAIL - from c25.c,1326

indicates a hardware fail. (Good old 8001 code, in S3s that was REALLY bad)

Perhaps SKOOTER or LEMSTER will weigh in.

wowa_wa · February 17, 2022 at 8:25 PM

Photo boards.

I'll pull out the board tomorrow and look at the markings on it.

If I install these disks, the controller starts up as M96. And an error on the wrong DC-Link

3HAB2333-1/07 BaseWare OS 2.1

3HAB2356-1/03 Teach Pendant Text 2.1

3HAB2342-1/04 IRB 6400 2.1

3HAB2344-1/00 Advanced Functions 2.1

Difference in the last two discs

wowa_wa · February 18, 2022 at 8:52 AM

I got all the boards today and looked, all nameplates correspond to the names.
I tried to install a configuration that used to run with errors, now also errors.

Code

*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
ram1disk: initialized.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Status 0 from memsize 
Pool : 2060000
Status 0 from memsize 
Status 0 from memsize 
Status 0 from memsize 
Status 0 from memsize 
Status 0 from eiosetup 
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
Status 0 from init 
Status 0 from new 
status = 0 
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
Status 0 from init 
Status 0 from config 
Status 0 from task 
Status 0 from task 
Status 0 from synchronize 
Status 0 from go 
Status 0 from init 
root_malloc 824 for mecmap
Status 0 from init 
Status 0 from init 
tpi_connect
Status 0 from teachpendant 
Status 0 from registrate 
Status 0 from setvar 
Installation start ...
Status 0 from echo 
Select Service/Standard motion param:
Status 0 from echo 
  Stand                       Service 
10
10
Status 0 from query 
Status 0 from task 
Installing system config files
Status 0 from echo 
Status 0 from config 
Status 0 from config 
Status 0 from if 
Status 0 from config 
Status 98765 from goto 
Status 0 from config 

Installing RAPID
Status 0 from echo 
Status 0 from text 
Status 0 from new 
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
Status 0 from reconfigure 
Status 0 from reconfigure 
Status 0 from synchronize 
Status 0 from go 
Installing ramdisk files
Status 0 from echo 
Status 0 from copy 
Status 0 from copy 

Teach Pendant Language
Status 0 from echo 
0 - English
Status 0 from echo 
1 - Swedish
Status 0 from echo 
2 - German
Status 0 from echo 
3 - Francais
Status 0 from echo 
4 - Spanish
Status 0 from echo 
5 - Italian
Status 0 from echo 
6 - Dutch
Status 0 from echo 
7 - Japanese (Katakana)
Status 0 from echo 
8 - Czech
Status 0 from echo 
0
0
Status 0 from query  
Status 0 from echo 
Status 98765 from if 
Installing English text files
Status 0 from echo 
Status 0 from setstr 
Status 0 from setstr 
Status 98765 from goto 
Status 0 from echo 
Insert TP text disk(1) and press ok:
Status 0 from echo 
                                  OK  
50
50
Status 0 from query 
Status 98765 from fileexist 
Status 98765 from fileexist 
Status 0 from text 
Startup ready 
Status 0 from include 

Status 0 from echo 
Insert IRB disk(1) and press ok:
Status 0 from echo 
                                  OK  
50
50
Status 0 from query 
Status 98765 from fileexist 

Status 0 from echo 
IRB 6400 M96 S4 2.1
Status 0 from echo 
Select IRB6400 M96 model :
Status 0 from echo 
2.4-120 2.4-150 2.8-120 S2.9-120  SCAN
20
20
Status 0 from query 
Status 0 from if 
Status 98765 from if 
Installing IRB 6400/2.4-150 M96
Status 0 from echo 
Status 0 from install 
Status 0 from config 
Status 98765 from goto 
Status 0 from echo 
Startup ready 
Status 0 from include 
 
Status 0 from echo 
Any Option disk to install?
Status 0 from echo 
                          NO     YES  
50
50
Status 0 from query 
Status 98765 from if 

Status 0 from echo 
Insert Option boot disk and press ok:
Status 0 from echo 
                                  OK  
50
50
Status 0 from query 
Status 98765 from fileexist 
Status 0 from registrate 
Status 0 from if 
Installing Advanced Functions
Status 0 from echo 
Status 0 from config 
Status 0 from install 
Status 0 from setvar 

Startup ready 
Status 0 from include 
 
Status 0 from echo 
More Option disks to install?
Status 0 from echo 
                          NO     YES  
40
40
Stat*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:03:35 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:03:35 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
root_malloc 1000000 for cab

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_1

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_2

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_3

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_4

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_5

94-01-01  10:03:36 type = ERROR id = MOTION code = 57
arg 0: irb_6

SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792

Bus Error
Program Counter: 0x001b6e4e
Status Register: 0x3004
Access Address : 0x00000110
Special Status : 0x0485
Task: 0x6c17a8 "cabts"
SYS FAIL - from tsksup.c
,115
94-01-01  10:03:36 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:36 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:36 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:36 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:36 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:03:36 tsksup.c 114 Bus error: task cabts vector 2

Display More

Where can I look for a problem?

wowa_wa · February 18, 2022 at 9:06 PM

Tried installing BaseWare 2.0.

Installed, loaded, working now I do not understand anything. I'll try to see what he writes through the comport.

Can someone give robotstudio 3.0 and config 2.0 for this system to fix it?

Skooter · February 18, 2022 at 11:52 PM

SJX: I saw DSQC306 too and thought that might be it but it also said 25MHz. The 306 is a 20MHz so I was going to ask to verify the boards. We got with post #14.

SomeTekk: I remember software loading issues somewhere when the SMB communication is missing during load but not sure if this configuration though.

wowa_wa: I remember not being able to load RW 2.1 but could load CommWare 2.0. It also passed the hardware tests. Ended up being a bad Main CPU. Like your problem, it was hard to find. The picture in post #14 shows the Main CPU is the DSQC325, which is compatible.

wowa_wa · February 21, 2022 at 7:34 PM

So I tried to install from floppy disks, install system 2.1 and it works

Code

NIOC2Sleep !
Cold startup mode.
T1504: IOC Diode off
T1002: IOC Prom Checksum-test
T1004: IOC Memory-test(RWM) Destr.
T1046: IOC IOC->MC Read-/Write-test
T1047: IOC IOC->MC Memory-test Destr.
T1510: IOC IOC->MC Reset MC
T1049: IOC IOC->MC DMA-test
T1053: IOC IOC->AXC Read-/Write-test
T1062: IOC IOC->AXC VME AM test
T1067: IOC IOC->AXC Memory-test Destr.
T1066: IOC IOC->AXC DMA-test
T1063: IOC IOC->AXC System fail test
T1058: IOC VME-BusError-test
T1027: IOC Duart1 Timer/Counter-test
T1028: IOC Duart2 Timer/Counter-test
T1018: IOC Battery-test
T1061: IOC IOC->AXC Load AXC
T3009: AXC Ref loopback test
T3013: AXC Measurem. channel loopb test
T1512: IOC IOC->MC Load MC
T1513: IOC IOC->MC Clock frequence

Clock frequence MC 25MHz
T1509: IOC IOC->MC Release MC
T2002: MC Memory-test(RWM) Destr.
T2010: MC Memory-test(RWM) BM Destr.
T2027: MC MC->AXC CPU Read/Write test
T2028: MC MC->AXC DMA transfer test
T4003: IOC-MC IOC->MC Mailbox1-test
T4004: IOC-MC IOC->MC Mailbox2-test
T1510: IOC IOC->MC Reset MC
T1511: IOC IOC->MC Set Cold-start-mode

Cold start in progress.
Adding 1 symbols for standalone.
isys state : 0
isys mode  : 1
Goto Root : Address = 490158 : Type = 1 
--> * * * IOC Started * * *
--> IOC Start-Mode & -State = 1 - 0 
--> MC Start-Mode / Sync / BP = ffffffff / 6706 / 7a01 
--> Boot Startup Mode 
--> Boot startup READY 

 Wake the NIOC--> STATE_COLD_LOAD  
--> Boot-Started (Break Possible !!)  
 nr_char = 1949 (status = 0)

Adding 1 symbols for standalone.
isys state : 4
isys mode  : 1
Goto Root : Address = 38000  
--> * * * IOC Started * * *
--> IOC Start-Mode & -State = 1 - 4 
--> MC Start-Mode / Sync / BP = ffffffff / 6706 / 7a01 

--> Rom-version: BOOT-iocromx-xxx-971201-1109 
--> Ram-version: IOC-iocramx-xxx-971201-1110 
--> Normal startup Mode : IOC Mode- & -State = 1 - 4 
--> STATE_COLD_START  
 entryp: rwm_checksum slotname: rwm_checksum priority: 255 options: 2 stacksize: 3000 : ==> iroot : mc_sync : Start 
Reset command from VME received !

Warm startup mode.
Warm start in progress.
Adding 1 symbols for standalone.
isys state : 0
isys mode  : 2
Goto Root : Address = 38000  
--> * * * IOC Started * * *
--> IOC Start-Mode & -State = 2 - 0 
--> MC Start-Mode / Sync / BP = ffffa5a5 / 0 / 7a01 

--> Rom-version: BOOT-iocromx-xxx-971201-1109 
--> Ram-version: IOC-iocramx-xxx-971201-1110 
--> Normal startup Mode : IOC Mode- & -State = 2 - 0 
--> STATE_WARM_START  

 entryp: rwm_checksum slotname: rwm_checksum priority: 255 options: 2 stacksize: 3000 : ==> iroot : mc_sync : Start 
==> iroot : mc_sync : Ready 
-->

Display More

Boot info from comport from main board

Code

Warm startup mode.
Warm start in progress.
Adding 1 symbols for standalone.
isys state : 0
isys mode  : 2
Goto Root : Address = 38000  
--> * * * IOC Started * * *
--> IOC Start-Mode & -State = 2 - 0 
--> MC Start-Mode / Sync / BP = ffffa5a5 / 0 / 7a01 
--> Rom-version: BOOT-iocromx-xxx-971201-1109 
--> Ram-version: IOC-iocramx-xxx-971201-1110 
--> Normal startup Mode : IOC Mode- & -State = 2 - 0 
--> STATE_WARM_START  
 entryp: rwm_checksum slotname: rwm_checksum priority: 255 options: 2 stacksize: 3000 : ==> iroot : mc_sync : Start 
==> iroot : mc_sync : Ready 
-->

Display More

Boot info from comport from dsqc325 board

Code

*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000
Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:09:12 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:09:12 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792
root_malloc 1000000 for cab

94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 cabts.c 3441 Not implemented in a not defined start mode ,67
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:13 type = ERROR id = SYSTEM code = 30
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:09:13 type = STATE_CHANGE id = OPERATIONAL code = 34
94-01-01  10:09:13 type = WARNING id = SYSTEM code = 1
94-01-01  10:09:13 type = STATE_CHANGE id = OPERATIONAL code = 14
94-01-01  10:09:13 type = STATE_CHANGE id = OPERATIONAL code = 15

Startup ready 
94-01-01  10:09:15 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:15 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:09:16 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000

Display More

And with the floppy disk emulator, it does not start after installation.

Or such glitches or all the same, the pattern of installation from disks

Who has a table of disks for proms 4911014-SDG D63L and 4911014-SBV D62H?

Can only 2.0 system be installed on them?

Skooter · February 22, 2022 at 3:35 AM

-SDG & -SBV EPROMs will work with 2.0, 2.1 & 3.0. They are very stable and the last S4 revision except when ABB came out with a 3HACxxxx set in the very late 90's with a few changes related to the Y2K hysteria.

wowa_wa · February 22, 2022 at 10:00 AM

I burned all the disks to the floppy and installed.

3HAB2333-1/07 BaseWare OS 2.1

3HAB2356-1/03 Teach Pendant Text 2.1

3HAB2340-1/04 IRB 6400 Elmo/Simens

3HAB2344-1/00 Advanced Functions 2.1

The installation was successful and the controller started up.

Code

*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
ram1disk: initialized.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000
Pool : 500
Status 0 from memsize 
Pool : 2060000
Status 0 from memsize 
Status 0 from eiosetup 
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
Status 0 from init 
Status 0 from new 
status = 0 
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
Status 0 from init 
Status 0 from config 
Status 0 from task 
Status 0 from synchronize 
Status 0 from go 
Status 0 from init 
root_malloc 824 for mecmap
Status 0 from init 
tpi_connect
Status 0 from teachpendant 
Status 0 from registrate 
Status 0 from setvar 
Installation start ...
Status 0 from echo 

Select Service/Standard motion param:
Status 0 from echo 
  Stand                       Service 
10
Status 0 from query 
Status 0 from task 
Installing system config files
Status 0 from echo 
Status 0 from if 
Status 0 from config 
Status 98765 from goto 
Status 0 from config 

Installing RAPID
Status 0 from echo 
Status 0 from text 
Status 0 from new 
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
Status 0 from reconfigure 
Status 0 from synchronize 
Status 0 from go 
Installing ramdisk files
Status 0 from echo 
Status 0 from copy 

Teach Pendant Language
Status 0 from echo 
0 - English
Startup ready 
Status 0 from include 
Status 0 from echo 

Insert IRB disk(1) and press ok:
Status 0 from echo 
                                  OK  
50

Status 0 from query 
Status 98765 from fileexist 

Status 0 from echo 
IRB 6400 Elmo/Siemens S4 2.1
Status 0 from echo 

Select IRB6400 model :
Status 0 from echo 
2.25-75 2.4-120 2.4-150 2.8-120   SCAN
20

Status 0 from query 
Status 0 from if 
Status 98765 from if 

Select IRB6400 motor type alternative :
Status 0 from echo 
Check the label of motor at axis 4
Status 0 from echo 
if you are not sure what to select
Status 0 from echo 

 Elmo  Siemens                     
10
Status 0 from query 
Status 98765 from if 

Installing IRB 6400/2.4-120 Elmo
Status 0 from echo 
Status 0 from install 
Status 0 from config 
Status 98765 from goto 
Status 0 from echo 
Startup ready 


Any Option disk to install?
Status 0 from echo 
                          NO     YES  
50

Status 0 from query 
Status 98765 from if 

Status 0 from echo 
Insert Option boot disk and press ok:
Status 0 from echo 
                                  OK  
50
Status 0 from query 
Status 98765 from fileexist 
Status 0 from registrate 
Status 0 from if 
Installing Advanced Functions
Status 0 from echo 
Status 0 from config 
Status 0 from install 
Status 0 from setvar 

Startup ready 
Status 0 from include 
 
Status 0 from echo 
More Option disks to install?
Status 0 from echo 
                          NO     YES  
40
40
Sta*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000

Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:09:19 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:09:19 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
root_malloc 1000000 for cab

94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_1
94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_2
94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_3
94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_4
94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_5
94-01-01  10:09:20 type = ERROR id = MOTION code = 57
arg 0: irb_6

SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792

94-01-01  10:09:20 servots.c 760 Not allowed if servo task not initialized OK

94-01-01  10:09:20 type = STATE_CHANGE id = OPERATIONAL code = 2
arg 0: 0 arg 1: 0 
arg 2: MAIN

94-01-01  10:09:21 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:21 type = ERROR id = SYSTEM code = 30
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:09:21 type = STATE_CHANGE id = OPERATIONAL code = 34
94-01-01  10:09:21 type = STATE_CHANGE id = OPERATIONAL code = 7
arg 0: 0 arg 1: 0 
arg 2: MAIN
arg 3: The originator is unknown.
94-01-01  10:09:21 type = WARNING id = SYSTEM code = 1
94-01-01  10:09:21 type = STATE_CHANGE id = OPERATIONAL code = 14
94-01-01  10:09:21 type = STATE_CHANGE id = OPERATIONAL code = 15
94-01-01  10:09:21 servots.c 760 Not allowed if servo task not initialized OK
Startup ready 
94-01-01  10:09:22 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:22 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:09:24 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS STOP ERROR - from ipolts.c,1266
94-01-01  10:09:42 ipolts.c 1265 Timeout waiting for zero_speed
94-01-01  10:09:42 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:42 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:09:42 type = STATE_CHANGE id = OPERATIONAL code = 5
arg 0: 0 arg 1: 5 
arg 2: MAIN
arg 3: an external or internal stop has
occurred.
*> usrRamDrv: Configure ram1disk at address 748000 with a size of 507904 bytes.
 => Existing ram1disk: mounted.
 => Result = 0 
BSP version    : 1.0.
Made on        : Mon Dec 1 13:13:28 MET 1997.
CPU            : ABB Robotics Products DSQC306 at 25 MHz.
Processor      : #0.
Board Memory   : 0xa00000.
vxWorks Memory : 0x708000.
Ramdisk        : 507904 bytes at 0x748000
Permanent Pool : 2064384 bytes at 0x7c4000
Pool : 500
Pool : 2060000
root_malloc 50000 for uwm
root_malloc 65000 for elog
root_malloc 250000 for tx
root_malloc 600000 for cfg
root_malloc 70000 for sdb
iolink_dev_create: Name= iocbase/sio07read , MsgNo= 2 , MsgSize= 512 , RecId= 5 
root_malloc 824 for mecmap
tpi_connect
iolink_dev_create: Name= iocbase/sio01read , MsgNo= 2 , MsgSize= 300 , RecId= 5 
iolink_dev_create: Name= iocbase/sio02read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio03read , MsgNo= 2 , MsgSize= 300 , RecId= 9 
iolink_dev_create: Name= iocbase/sio04read , MsgNo= 2 , MsgSize= 300 , RecId= 5 

94-01-01  10:12:07 type = ERROR id = HARDWARE code = 8001
arg 0: 1.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
SYS FAIL - from c25.c,1326

94-01-01  10:12:07 type = ERROR id = HARDWARE code = 3107
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:12:08 type = ERROR id = MOTION code = 57
arg 0: irb_1
94-01-01  10:12:08 type = ERROR id = MOTION code = 57
arg 0: irb_2
94-01-01  10:12:08 type = ERROR id = MOTION code = 57
arg 0: irb_4
94-01-01  10:12:08 type = ERROR id = MOTION code = 57
arg 0: irb_6
SYS HALT ERROR - from servots.c,1346
SYS STOP ERROR - from ipolts.c,2792
root_malloc 1000000 for cab
94-01-01  10:12:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:12:09 cabts.c 3441 Not implemented in a not defined start mode ,67
94-01-01  10:12:09 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:12:09 type = ERROR id = SYSTEM code = 30
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:12:09 type = STATE_CHANGE id = OPERATIONAL code = 34
94-01-01  10:12:10 type = STATE_CHANGE id = OPERATIONAL code = 8
arg 0: 0 arg 1: 0 
arg 2: MAIN
arg 3: The originator is unknown.
94-01-01  10:12:10 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:12:10 type = WARNING id = SYSTEM code = 1
94-01-01  10:12:10 type = STATE_CHANGE id = OPERATIONAL code = 14
94-01-01  10:12:10 type = STATE_CHANGE id = OPERATIONAL code = 15

Startup ready 
94-01-01  10:12:11 servots.c 760 Not allowed if servo task not initialized OK
94-01-01  10:12:12 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:12:13 type = ERROR id = SYSTEM code = 76
arg 0: 0.000000 arg 1: 0.000000 arg 2: 0.000000 arg 3: 0.000000 
94-01-01  10:12:44 type = WARNING id = SYSTEM code = 76

Display More

After installation same problem with dc-link.

I need config for abb irb 6400/f/2.4-150e s4

wowa_wa February 12, 2022 at 8:16 PM

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