Fault tracing guide
8 Product Manual
1.6 Distributed I/O
I/O units communicate with the I/O computer, located on the robot computer board, via
the CAN bus. To activate the I/O units they must be defined in the system parameters.
The I/O channels can be read and activated from the I/O menu on the teach pendant.
In the event of an error in the I/O communication to and from the robot, check as fol-
lows:
1. Is I/O communication programmed in the current program?
2. On the unit in question, the MS (Module status) and NS (Network status) LEDs must
be lit with a fixed green colour. See the table below regarding other conditions:
3. Check that the current I/O signal has the desired status using the I/O menu on the
tech pendant display.
4. Check the I/O unit’s LED for the current input or output. If the output LED is not lit,
check that the 24 V I/O power supply is OK.
5. Check on all connectors and cabling from the I/O unit to the process connection.
MS LED is: To indicate Action
Off No power Check 24 V CAN
Green Normal condition
Flashing green Software configuration miss-
ing, standby state
Configure device
Flashing red/green Device self testing Wait for test to be
completed
Flashing red Minor fault (recoverable) Restart device
Red Unrecoverable fault Replace device
NS LED is: To indicate Action
Off Not powered/not on-line
Flashing green On-line, not connected Wait for connection
Green On-line, connections estab-
lished
Red Critical link failure, incapa-
ble of communicating (dupli-
cate MAC ID, or bus-off)
Change MAC ID and/
or check CAN connec-
tion/cables
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