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Chapter 5 - System Operation
5.2 Diagnostic Panel Fault Codes
The diagnostic panel, shown in Figure 5-2, displays alpha-numeric codes that indicate the
operating status of the robot, including detailed fault codes. Table 5-2 gives definitions of
the fault codes. These codes provide details for quickly isolating problems during
troubleshooting.
The displayed fault code will continue to be displayed even after the fault is corrected or
additional faults are recorded. All displayed faults will be cleared from the display and
reset to a no-fault condition, upon successfully enabling high power to the robot, or power
cycling the 24 V supply to the robot.
Diagnostics
Panel for
Displaying Fault
Codes
Z Brake Release
Button
Figure 5-2. Diagnostic Panel
Table 5-2. Diagnostic Panel Fault Codes
LED Fault Code LED Fault Code
OK No Fault V# Hard Envelope Error
ON High Power ON Status M# Motor Stalled
I# Initialization Stage 24 24V Motor Fault (Award)
I0 FPGA Initialization in Process IO 24V I/O Fault
I1 Software Initialization Started AC AC Power Fault
I3 1394 initialization Done bF Base Board Fault
I4 Amp Offsets Done LV Low Voltage
I5 Servo Initialization Done FW 1394 Fault (V+)
I7 MicroV+ Initialization Done F# 1394 Fault
I9 Interrupt Started ES E-Stop
A# Amp Fault PR Processor Overloaded
h# High Temp Amp FM Firmware Mismatch
H# High Temp Encoder NV Non-Volatile Memory
E# Encoder Fault RC RSC Fault
D# Duty Cycle Exceeded SW Watchdog Timeout
hV High Voltage Bus Fault B# IO Blox Fault
# = Joint Number
50 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B