Trouble Shooting Manual, Procedures And Descriptions Robot Controller IRC5 Manual M2004 3HAC020738 001 Error En

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Trouble shooting manual, Procedures and Descriptions - Robot Controller IRC5

Trouble shooting manual, Procedures and Descriptions

Robot Controller

IRC5

M2004

Operating manual - Trouble shooting, IRC5

Robot Controller

IRC5

M2004

Document ID: 3HAC020738-001

Revision: K

The information in this manual is subject to change without notice and should not be

construed as a commitment by ABB. ABB assumes no responsibility for any errors that

may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to persons

or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written

permission, and contents thereof must not be imparted to a third party nor be used for

any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

ABB AB

Robotics Products

SE-721 68 Västerås

Sweden

Table of Contents

33HAC020738-001 Revision: K

Overview of this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1 Safety 7

1.1 Safety signals in the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2 Safety symbols on the manipulator labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.3 Safety during trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.4 Applicable safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Safe Trouble Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1.5.1 DANGER - Robot without axes' holding brakes are potentially lethal! . . . . . . . . . . . . . . . . . . . . 16

1.5.2 DANGER - Live voltage inside Drive Module!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.5.3 WARNING - The unit is sensitive to ESD! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

1.5.4 CAUTION - Hot parts may cause burns!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

2 Trouble shooting Overview 23

2.1 Documentation and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.3 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.4 Tips and Tricks while trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.4.1 Trouble shooting strategies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.4.2 Work systematically. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2.4.3 Keeping track of history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2.5 Filing an error report. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3 Troubleshooting by fault symptoms 33

3.1 Start-up failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.2 Controller not responding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.3 Low Controller performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3.4 All LEDs are OFF at Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3.5 No voltage in service outlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.6 Problem starting the FlexPendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.7 Problem connecting FlexPendant to the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3.8 Erratic event messages on FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.9 Problem jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

3.10 Reflashing firmware failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3.11 Inconsistent path accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.12 Oil and grease stains on motors and gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3.13 Mechanical noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3.14 Manipulator crashes on power down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

3.15 Problem releasing Robot brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.16 Intermittent errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4 Trouble shooting by Unit 55

4.1 Trouble shooting the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.2 Trouble shooting communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.3 Trouble shooting fieldbuses and I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4.4 Trouble shooting power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.4.1 Trouble shooting DSQC 604 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.4.2 Trouble shooting DSQC 661 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.4.3 Trouble shooting DSQC 662 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table of Contents

43HAC020738-001 Revision: K

5 Descriptions and background information 69

5.1 Indications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.1.1 LEDs in the Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.1.2 LEDs in the Drive Module for Drive System 04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.1.3 LEDs in the Drive Module for Drive System 09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

6 Trouble shooting by Event log 83

Index 465

Overview of this manual

53HAC020738-001 Revision: K

Overview of this manual

About this manual

This manual contains information, procedures and descriptions, for trouble shooting IRC5

based robot systems.

Usage

This manual should be used whenever robot operation is interrupted by malfunction,

regardless of whether an error event log message is created or not.

Who should read this manual?

This manual is intended for the following personnel:

•Machine and robot operators qualified to perform very basic trouble shooting and

reporting to service personnel.

•Programmers qualified to write and change RAPID programs.

•Specialized trouble shooting personnel, usually very experienced service personnel,

qualified for methodically isolating, analyzing and correcting malfunctions within the

robot system.

Prerequisites

The reader should:

•Have extensive experience in trouble shooting industrial electro-mechanical

machinery.

•Have in depth knowledge of the robot system function.

•Be familiar with the actual robot installation at hand, its surrounding equipment and

peripherals.

References

Reference: Document ID:

Product manual - IRC5 3HAC021313-001

Emergency safety information 3HAC027098-001

General safety information 3HAC031045-001

Operating manual - IRC5 with FlexPendant 3HAC16590-1

Operating manual - RobotStudio 3HAC032104-001

Operating manual - Getting started, IRC5 and RobotStudio 3HAC027097-001

Technical reference manual - System parameters 3HAC17076-1

Application manual - MultiMove 3HAC021272-001

Continues on next page

Overview of this manual

3HAC020738-001 Revision: K6

Revisions

Revision Description

-First edition.

AInformation has been added.

The document has been partly restructured.

BInformation on how to submit error report has been changed.

Information on RAPID change logs have been added.

Event log messages have been added.

CUpdated Event log messages.

DUpdated Event log messages.

EUpdated Event log messages.

FMinor corrections. Updated Event log messages.

GMinor corrections. Updated Event log messages.

HNew information in section Serial Measurement Unit regarding the battery

pack.

More detailed information about trouble shooting power supplies DSQC 604,

661 and 662.

Removed safety I/O signals: DRV1PANCH1, DRV1PANCH2, DRV1SPEED.

New drive system introduced. Drive System 04 and Drive System 09 are

both described.

JReleased with RobotWare 5.13

The chapter Safety updated with:

• Updated safety signal graphics for the levels Danger and Warning,

see Safety signals in the manual on page 7.

• New safety labels on the manipulators, see Safety symbols on the

manipulator labels on page 9.

• Updated the graphic in the section DANGER - Live voltage inside

Drive Module! on page 17.

The contents in the following sections were updated:

• Corrections regarding drive system information in chapter Descrip-

tions and background information on page 65

• Restructured the chapters as per the new document startergy.

• Updated the graphic in the Recommended actions of the section No

voltage in service outlet on page 38.

• Updated the Possible causes in the section Problem starting the

FlexPendant on page 40.

• Updated the graphics in the section LEDs in the Control Module on

page 65.

• Updated the graphic in Possible causes of the section Problem

releasing Robot brakes on page 50.

KUpdated Event log messages.

Continued

1 Safety

1.1. Safety signals in the manual

73HAC020738-001 Revision: K

1 Safety

1.1. Safety signals in the manual

Introduction to safety signals

This section specifies all dangers that can arise when doing the work described in this manual.

Each danger consists of:

•A caption specifying the danger level (DANGER, WARNING, or CAUTION) and the

type of danger.

•A brief description of what will happen if the operator/service personnel do not

eliminate the danger.

•An instruction on how to eliminate the danger to simplify doing the work.

Danger levels

The table below defines the captions specifying the danger levels used throughout this

manual.

Symbol Designation Significance

danger

DANGER Warns that an accident will occur if the instructions

are not followed, resulting in a serious or fatal injury

and/or severe damage to the product. It applies to

warnings that apply to danger with, for example,

contact with high voltage electrical units, explosion

or fire risk, risk of poisonous gases, risk of crushing,

impact, fall from height, etc.

warning

WARNING Warns that an accident may occur if the instructions

are not followed that can lead to serious injury,

possibly fatal, and/or great damage to the product. It

applies to warnings that apply to danger with, for

example, contact with high voltage electrical units,

explosion or fire risk, risk of poisonous gases, risk of

crushing, impact, fall from height, etc.

Electrical shock

ELECTRICAL

SHOCK

Warns for electrical hazards which could result in

severe personal injury or death.

caution

CAUTION Warns that an accident may occur if the instructions

are not followed that can result in injury and/or

damage to the product. It also applies to warnings of

risks that include burns, eye injury, skin injury,

hearing damage, crushing or slipping, tripping,

impact, fall from height, etc. Furthermore, it applies

to warnings that include function requirements when

fitting and removing equipment where there is a risk

of damaging the product or causing a breakdown.

Continues on next page

1 Safety

1.1. Safety signals in the manual

3HAC020738-001 Revision: K8

Electrostatic discharge

(ESD)

ELECTROSTATIC

DISCHARGE (ESD)

Warns for electrostatic hazards which could result in

severe damage to the product.

Note

NOTE Describes important facts and conditions.

Tip

TIP Describes where to find additional information or

how to do an operation in an easier way.

Symbol Designation Significance

Continued

1 Safety

1.2. Safety symbols on the manipulator labels

93HAC020738-001 Revision: K

1.2. Safety symbols on the manipulator labels

Introduction to labels

This section describes safety symbols used on labels (stickers) on the manipulator.

Symbol are used in combinations on the labels, describing each specific warning. The

descriptions in this section are generic, the labels can contain additional information such as

values.

Types of labels

Both the manipulator and the controller are marked with several safety and information

labels, containing important information about the product. The information is useful for all

personnel handling the manipulator system, for example during installation, service, or

operation.

The safety labels are language independent, they only use graphics. See Symbols on safety

labels on page 9.

The information labels can contain information in text (English, German, and French).

Symbols on safety labels

Symbol Description

xx0900000812

Warning!

Warns that an accident may occur if the instructions are not

followed that can lead to serious injury, possibly fatal, and/or

great damage to the product. It applies to warnings that apply to

danger with, for example, contact with high voltage electrical

units, explosion or fire risk, risk of poisonous gases, risk of

crushing, impact, fall from height, etc.

xx0900000811

Caution!

Warns that an accident may occur if the instructions are not

followed that can result in injury and/or damage to the product.

It also applies to warnings of risks that include burns, eye injury,

skin injury, hearing damage, crushing or slipping, tripping,

impact, fall from height, etc. Furthermore, it applies to warnings

that include function requirements when fitting and removing

equipment where there is a risk of damaging the product or

causing a breakdown.

xx0900000839

Prohibition

Used in combinations with other symbols.

Continues on next page

1 Safety

1.2. Safety symbols on the manipulator labels

3HAC020738-001 Revision: K10

xx0900000813

Product manual

Read the product manual for details.

xx0900000816

Before dismantling see product manual

xx0900000815

Do not dismantle

Dismantling this part can cause injury.

xx0900000814

Extended rotation

This axis has extended rotation (working area) compared to

standard.

xx0900000808

Brake release

Pressing this button will release the brakes. This means that the

manipulator arm can fall down.

xx0900000810

Tip risk when loosening bolts

The manipulator can tip over if the bolts are not securely

fastened.

xx0900000817

Crush

Risk for crush injuries.

Symbol Description

Continued

Continues on next page

1 Safety

1.2. Safety symbols on the manipulator labels

113HAC020738-001 Revision: K

xx0900000818

Heat

Risk of heat that can cause burns.

xx0900000819

Moving robot

The robot can move unexpectedly.

xx0900000820

Brake release buttons

xx0900000821

Lifting bolt

xx0900000822

Lifting of robot

xx0900000823

Oil

Can be used in combination with prohibition if oil is not allowed.

Symbol Description

Continued

Continues on next page

1 Safety

1.2. Safety symbols on the manipulator labels

3HAC020738-001 Revision: K12

xx0900000824

Mechanical stop

xx0900000825

Stored energy

Warns that this part contains stored energy.

Used in combination with Do not dismantle symbol.

xx0900000826

Pressure

Warns that this part is pressurized. Usually contains additional

text with the pressure level.

xx0900000827

Shut off with handle

Use the power switch on the controller.

Symbol Description

Continued

1 Safety

1.3. Safety during trouble shooting

133HAC020738-001 Revision: K

1.3. Safety during trouble shooting

General

All normal service work; installation, maintenance and repair work, is usually performed with

all electrical, pneumatic and hydraulic power switched off. All manipulator movements are

usually prevented by mechanical stops etc.

Trouble shooting work differs from this. While trouble shooting, all or any power may be

switched on, the manipulator movement may be controlled manually from the FlexPendant,

by a locally running robot program or by a PLC to which the system may be connected.

Dangers during trouble shooting

This implies that special considerations unconditionally must be taken when trouble

shooting:

•All electrical parts must be considered as live.

•The manipulator must at all times be expected to perform any movement.

•Since safety circuits may be disconnected or strapped to enable normally prohibited

functions, the system must be expected to perform accordingly.

1 Safety

1.4. Applicable safety standards

3HAC020738-001 Revision: K14

1.4. Applicable safety standards

Standards, EN ISO

The manipulator system is designed in accordance with the requirements of:

1. There is a deviation from paragraph 6.2 in that only worst case stop distances and stop

times are documented.

2. Only robots with Protection Clean Room.

3. Only valid for arc welding robots. Replaces EN 61000-6-4 for arc welding robots.

European standards

Standard Description

EN ISO 12100 -1 Safety of machinery - Basic concepts, general principles for

design - Part 1: Basic terminology, methodology

EN ISO 12100 -2 Safety of machinery - Basic concepts, general principles for

design - Part 2: Technical principles

EN ISO 13849-1 Safety of machinery, safety related parts of control systems -

Part 1: General principles for design

EN ISO 13850 Safety of machinery - Emergency stop - Principles for design

EN ISO 10218-11Robots for industrial environments - Safety requirements -Part 1

Robot

EN ISO 9787 Manipulating industrial robots, Coordinate systems and motion

nomenclatures

EN ISO 9283 Manipulating industrial robots, Performance criteria and related

test methods

EN ISO 14644-12 Classification of air cleanliness

EN ISO 13732-1 Ergonomics of the thermal environment - Part 1

EN 61000-6-4

(option 129-1)

EMC, Generic emission

EN 61000-6-2 EMC, Generic immunity

EN IEC 60974-13Arc welding equipment - Part 1: Welding power sources

EN IEC 60974-103Arc welding equipment - Part 10: EMC requirements

EN 60204-1 Safety of machinery - Electrical equipment of machines - Part 1

General requirements

IEC 60529 Degrees of protection provided by enclosures (IP code)

Standard Description

EN 614-1 Safety of machinery - Ergonomic design principles - Part 1:

Terminology and general principles

EN 574 Safety of machinery - Two-hand control devices - Functional

aspects - Principles for design

EN 953 Safety of machinery - General requirements for the design and

construction of fixed and movable guards

Continues on next page

1 Safety

1.4. Applicable safety standards

153HAC020738-001 Revision: K

Other standards

Standard Description

ANSI/RIA R15.06 Safety Requirements for Industrial Robots and Robot Systems

ANSI/UL 1740

(option 429-1)

Safety Standard for Robots and Robotic Equipment

CAN/CSA Z 434-03

(option 429-1)

Industrial Robots and Robot Systems - General Safety Require-

ments

Continued

1 Safety

1.5.1. DANGER - Robot without axes' holding brakes are potentially lethal!

3HAC020738-001 Revision: K16

1.5 Safe Trouble Shooting

1.5.1. DANGER - Robot without axes' holding brakes are potentially lethal!

Description

Since the robot arm system is quite heavy, especially on larger robot models, it is dangerous

if the holding brakes are disconnected, faulty, worn or in any way rendered non-operational.

For instance, a collapsing IRB 7600 arm system may kill or seriously injure a person standing

beneath it.

Elimination

Action Info/illustration

1. If you suspect that the holding brakes are

non-operational, secure the robot arm

system by some other means before

working on it.

Weight specifications etc. may be found in

the Product manual of each robot model.

2. If you intentionally render the holding

brakes non-operational by connecting an

external voltage supply, the utmost care

must be taken!

DANGER!

NEVER stand inside the robot working

area when disabling the holding brakes

unless the arm system is supported by

some other means!

DANGER!

Under no circumstance stand beneath any

of the robot’s axes!

How to correctly connect an external

voltage supply is detailed in the Product

manual of each robot model.

1 Safety

1.5.2. DANGER - Live voltage inside Drive Module!

173HAC020738-001 Revision: K

1.5.2. DANGER - Live voltage inside Drive Module!

Description

The Drive Module has live voltage potentially accessible directly behind the rear covers and

inside the front cover, even when the main switches have been switched off.

en1000000049

en1000000050

ALive voltage at transformer terminals even if the main power switches have been

switched off.

BLive voltage at Motors ON terminals even if the main power switches have been

switched off.

Continues on next page

1 Safety

1.5.2. DANGER - Live voltage inside Drive Module!

3HAC020738-001 Revision: K18

Elimination

Read this information before opening the rear cover of either module.

Step Action

1. Make sure the incoming mains power supply has been switched off.

2. Use a voltmeter to verify that there is not voltage between any of the terminals.

3. Proceed with the service work.

Continued

1 Safety

1.5.3. WARNING - The unit is sensitive to ESD!

193HAC020738-001 Revision: K

1.5.3. WARNING - The unit is sensitive to ESD!

Description

ESD (electrostatic discharge) is the transfer of electrical static charge between two bodies at

different potentials, either through direct contact or through an induced electrical field. When

handling parts or their containers, personnel not grounded may potentially transfer high static

charges. This discharge may destroy sensitive electronics.

Elimination

Location of wrist strap button

The location of the wrist strap button is shown in the following illustration.

IRC5

The wrist strap button is located in the top right corner.

xx0500002171

Action Note

1. Use a wrist strap Wrist straps must be tested frequently to ensure

that they are not damaged and are operating

correctly.

2. Use an ESD protective floor mat. The mat must be grounded through a current-

limiting resistor.

3. Use a dissipative table mat. The mat should provide a controlled discharge of

static voltages and must be grounded.

AWrist strap button

Continues on next page

1 Safety

1.5.3. WARNING - The unit is sensitive to ESD!

3HAC020738-001 Revision: K20

Panel Mounted Controller

xx0600003249

APanel Mounted Control Module

BPanel Mounted Drive Module

CWrist strap button NOTE! When not used, the wrist strap must always be

attached to the wrist strap button.

Continued

1 Safety

1.5.4. CAUTION - Hot parts may cause burns!

213HAC020738-001 Revision: K

1.5.4. CAUTION - Hot parts may cause burns!

Description

During normal operation, many manipulator parts become hot, especially the drive motors

and gears. Sometimes areas around these parts also become hot. Touching these may cause

burns of various severity.

Because of a higher environment temperature, more surfaces on the manipulator get hot and

may result in burns.

NOTE!

The drive parts in the cabinet can be hot.

Elimination

The instructions below detail how to avoid the dangers specified above:

Action Info

1. Always use your hand, at some distance, to feel if heat is

radiating from the potentially hot component before

actually touching it.

2. Wait until the potentially hot component has cooled if it is

to be removed or handled in any other way.

3. The Bleeder can be hot upto 80 degrees.

1 Safety

1.5.4. CAUTION - Hot parts may cause burns!

3HAC020738-001 Revision: K22

2 Trouble shooting Overview

2.1. Documentation and references

233HAC020738-001 Revision: K

2 Trouble shooting Overview

2.1. Documentation and references

General

A great deal of effort was put into writing the event log messages as well as the technical

documentation. Though imperfect, they may give vital clues. They are also constantly being

upgraded.

The product documentation is available in several languages.

Read the documentation!

Do not wait until nothing else works to read the manual!

References to document numbers are specified in the chapter Reference information in

Product manual - IRC5.

Read the circuit diagram!

The complete electrical circuitry of the controller is documented in Product manual - IRC5.

It contains a lot of information useful, or even essential, to a trained trouble shooter.

Read the logs!

The error event logs which may be viewed on either the FlexPendant or RobotStudio, contain

lots of information about any malfunction detected by the system.

en0300000547

Check the electronical unit's LEDs!

If a fault is thought to be caused by an electronic unit (circuit board in the controller or other),

the LEDs on the unit front may give leads.

These are described in section Indications on page 65.

2 Trouble shooting Overview

2.2. Overview

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2.2. Overview

How to use this manual when trouble shooting

The illustration and description detail how to put the information in this manual to best use

during trouble shooting the robot system.

en0400001200

Trouble shooting manual

Fault symptoms and malfunctions:

•Each fault or error is first detected as a symptom, for which an error event log message

may or may not be created. It could be an error event log message on the FlexPendant,

an observation that the gearbox on axis 6 is getting hot or that the controller can not

be started. The faults displaying an event log message are listed in the end of this

manual.

Instructions, how to correct faults:

•The instructions are divided into two main categories: descriptions of how to correctly

handle the different parts of the system and instructions of how to remedy faults

causing the symptoms specified above. The latter category is divided into two sub-

2 Trouble shooting Overview

2.2. Overview

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categories, depending on whether to trouble shoot a specific symptom or a suspected

unit causing the problem. The first category contains information on how to use the

event log to facilitate trouble shooting, etc.

Recommended working procedures:

•Here, you will find a procedure for how to correctly perform certain specific tasks.

These may be used to make sure the seemingly irrational behavior of the system is not

due to incorrect handling.

Basic reference info:

•This section contains information about what tools to use, references to documents

that may be useful when trouble shooting, etc.

Description, systems:

•The different systems and sub-systems are described to give a better understanding of

its function when it works “as it’s supposed to”. This enables the trouble shooter to

better see and understand the differences between a system that’s functional and one

that’s not.

Description, components and details:

•Specific details of the system are described with regards to their function, etc.

Description, functions:

•Contains descriptions on how specific functions within the system work, e.g the RUN

chain, and what signals and other systems affect that particular function. This provides

for a better understanding of the relations and mechanisms of the robot system.

Indications

•All indication LEDs and other indications (as found on the Control and Drive Modules

as well as separate circuit boards, etc) are described in this section along with

information about their indication modes and significances respectively.

Recommended actions are often specified or references containing such instructions.

Event log messages:

•This section is basically a printout of all available event log messages. These may be

displayed either on the FlexPendant or using RobotStudio. Having access to all

messages at the same time may be useful during trouble shooting.

Additional information

In addition to the information given in this document, other documents may provide vital

information, e.g. the Circuit Diagram.

Such useful documents are listed in Overview of this manual on page 5.

Continues on next page

2 Trouble shooting Overview

2.3. Standard toolkit

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2.3. Standard toolkit

General

Listed are tools required to perform the actual trouble shooting work. All tools required to

perform any corrective measure, such as replacing parts, are listed in their Product Manual

section respectively.

Contents, standard toolkit, IRC5

Contents, standard toolkit, trouble shooting

Tool Remark

Screw driver, Torx Tx10

Screw driver, Torx Tx25

Ball tipped screw driver, Torx Tx25

Screw driver, flat blade 4 mm

Screw driver, flat blade 8 mm

Screw driver, flat blade 12 mm

Screw driver Phillips-1

Box spanner 8 mm

Qty Art. no. Tool Rem.

- - Normal shop tools Contents as specified above.

1 - Multimeter -

1 - Oscilloscope -

1 - Recorder -

Continued

2 Trouble shooting Overview

2.4.1. Trouble shooting strategies

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2.4 Tips and Tricks while trouble shooting

2.4.1. Trouble shooting strategies

Isolate the fault!

Any fault may give rise to a number of symptoms, for which error event log messages may

or may not be created. In order to effectively eliminate the fault, it is vital to distinguish the

original symptom from the consequential ones.

A help in isolating the fault may be creating a historical fault log as specified in section Make

a historical fault log! on page 29.

Split the fault chain in two!

When trouble shooting any system, a good practice is to split the fault chain in two. This

means:

•identify the complete chain.

•decide and measure the expected value at the middle of the chain.

•use this to determine in which half the fault is caused.

•split this half into two new halves, etc.

•finally, a single component may be isolated. The faulty one.

Example

A specific IRB 7600 installation has a 12 VDC power supply to a tool at the manipulator

wrist. This tool does not work, and when checked, there is no 12 VDC supply to it.

•Check at the manipulator base to see if there is 12 VDC supply. Measurement show

there are no 12 VDC supply. (Reference: Circuit Diagram in the Product manual,

IRC5)

•Check any connector between the manipulator and the power supply in the controller.

Measurement show there are no 12 VDC supply. (Reference: Circuit Diagram in the

Product manual, IRC5)

•Check the power supply unit LED. (Reference: Indications on page 65)

Check communication parameters and cables!

The most common causes of errors in serial communication are:

• Faulty cables (e.g. send and receive signals are mixed up)

• Transfer rates (baud rates)

• Data widths that are incorrectly set.

Check the software versions!

Make sure the RobotWare and other software run by the system are the correct version.

Certain versions are not compatible with certain hardware combinations.

Also, make a note of all software versions run, since this will be useful information to the

ABB support people.

How to file a complete error report to your local ABB service personnel is detailed in section

Filing an error report on page 30.

2 Trouble shooting Overview

2.4.2. Work systematically

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2.4.2. Work systematically

Do not replace units randomly!

Before replacing any part at all, it is important to establish a probable cause for the fault, thus

determining which unit to replace.

Randomly replacing units may sometimes solve the acute problem, but also leaves the trouble

shooter with a number of units that may/may not be perfectly functional.

Replace one thing at a time!

When replacing a presumably faulty unit that has been isolated, it is important that only one

unit be replaced at a time.

Always replace components as detailed in the Repairs section of the Product manual of the

robot or controller at hand.

Test the system after replacing to see if the problem has been solved.

If replacing several units at once:

•it is impossible to determine which of the units was causing the fault.

•it greatly complicates ordering a new spare part.

•it may introduce new faults to the system.

Take a look around!

Often, the cause may be evident once you see it. In the area of the unit acting erroneously, be

sure to check:

•Are the attachment screws secured?

•Are all connectors secured?

•Are all cabling free from damage?

•Are the units clean (especially for electronic units)?

•Is the correct unit fitted?

Check for tools left behind!

Some repair and maintenance work require using special tools to be fitted to the robot

equipment. If these are left behind (e.g. balancing cylinder locking device or signal cable to

a computer unit used for measuring purposes), they may cause erratic robot behavior.

Make sure all such tools are removed when maintenance work is complete!

2 Trouble shooting Overview

2.4.3. Keeping track of history

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2.4.3. Keeping track of history

Make a historical fault log!

In some cases, a particular installation may give rise to faults not encountered in others.

Therefore, charting each installation may give tremendous assistance to the trouble shooter.

To facilitate trouble shooting, a log of the circumstances surrounding the fault gives the

following advantages:

•it enables the trouble shooter to see patterns in causes and consequences not apparent

at each individual fault occurrance.

•it may point out a specific event always taking place just before the fault, for example

a certain part of the work cycle being run.

Check up the history!

Make sure you always consult the historical log if it is used. Also remember to consult the

operator, or similar, who was working when the problem first occurred.

At what stage did the fault occur?

What to look for during trouble shooting depends greatly of when the fault occurred: was the

robot just freshly installed? Was it recently repaired?

The table gives specific hints to what to look for in specific situations:

If the system has just: then:

been installed Check:

• the configuration files

• connections

• options and their configuration

been repaired Check:

• all connections to the replaced part

• power supplies

• that the correct part has been fitted

had a software upgrade Check:

• software versions

• compatibilities between hardware and software

• options and their configuration

been moved from one site

to another (an already

working robot)

Check:

• connections

• software versions

2 Trouble shooting Overview

2.5. Filing an error report

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2.5. Filing an error report

Introduction

If you require the assistance of ABB support personnel in trouble shooting your system, you

may file a formal error report as detailed below.

In order for the ABB support personnel to better solve your problem, you may attach a special

diagnostics file that the system generates on demand.

The diagnostics file includes:

•Event log A list of all system events.

•Backup A backup of the system taken for diagnostics purposes.

•System information Internal system information useful to ABB support personnel.

NOTE that it is not required to create or attach any additional files to the error report if not

explicitely requested by the support personnel!

Creating the diagnostics file

The diagnostics file is created manually as detailed below.

Action

1. Tap ABB, then Control Panel and then Diagnostics.

A display is shown:

en0500002175

2. Specify the name you want for the diagnostics file, the save folder of it and tap OK. The

default save folder is C:/Temp, but any folder may be selected, for instance an

externally connected USB memory.

This may take a couple of minutes, while “Creating file. Please wait!” is displayed.

3. To shorten file transfer time, you may compress the data into a zip-file.

4. Write a regular e-mail addressed to your local ABB support personnel, and make sure

to include the following information:

• Robot serial number

• RobotWare version

• External options

• A written fault description. The more detailed, the easier for the ABB support

personnel to assist you.

• if available, enclose the license key.

• attach the diagnostics file!

5. Mail it!

3 Troubleshooting by fault symptoms

3.1. Start-up failures

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3 Troubleshooting by fault symptoms

3.1. Start-up failures

Introduction

This section describes possible faults during start-up and the recommended action for each

failure.

Consequences

Problem starting the sytem.

Symptoms and causes

The following are the possible symptoms of a start-up failure:

•LEDs not lit on any unit.

•Earth fault protection trips.

•Unable to load the system software.

•FlexPendant not responding.

•FlexPendant starts, but does not respond to any input.

•Disk containing the system software does not start correctly.

Recommended actions

The following are the recommended actions to be taken during a start-up failure:

NOTE!

This may be due to a loss of power supply in many stages.

Action Info/illustration

1. Make sure the main power supply to the system

is present and is within the specified limits.

Your plant or cell documentation can

provide this information.

2. Make sure that the main transformer in the Drive

module is correctly connected to the mains

voltage levels at hand.

How to strap the mains transformer

is detailed in the product manual for

the controller.

3. Make sure that the main switches are switched

on.

4. Make sure that the power supply to the Control

module and Drive module are within the

specified limits.

If required, trouble shoot the power

supply units as explained in section

Trouble shooting power supply on

page 56.

5. If no LEDs lit, proceed to section All LEDs are

OFF at Controller on page 36.

6. If the system is not responding, proceed to

section Controller not responding on page 33.

7. If the FlexPendant is not responding, proceed to

section Problem starting the FlexPendant on

page 40.

Continues on next page

3 Troubleshooting by fault symptoms

3.1. Start-up failures

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8. If the FlexPendant starts, but does not

communicate with the controller, proceed to

section Problem connecting FlexPendant to the

controller on page 41.

Action Info/illustration

Continued

3 Troubleshooting by fault symptoms

3.2. Controller not responding

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3.2. Controller not responding

Description

This section describes the possible faults and the recommended actions for each failure:

•Robot controller not responding

•LED indicators not lit

Consequences

System cannot be operated using the FlexPendant.

Possible causes

Symptoms Recommended action

1Controller not connected to the

mains power supply.

Ensure that the mains power supply is working and

the voltage level matches that of the controller

requirement.

2Main transformer is malfunction-

ing or not connected correctly.

Ensure that the main transformer is connected

correctly to the mains voltage level.

3Main fuse (Q1) might have

tripped.

Ensure that the mains fuse (Q1) inside the Drive

Module is not tripped

4Connection missing between the

Control and Drive modules.

If the Drive Module does not start although the

Control Module is working and the Drive Module

main switch has been switched on, ensure that all

the connections between the Drive module and the

Control module are connected correctly.

3 Troubleshooting by fault symptoms

3.3. Low Controller performance

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3.3. Low Controller performance

Description

The controller performance is low, and seems to work irrationally.

The controller is not completely“ dead”. If it is, proceed as detailed in section Controller not

responding on page 33.

Consequences

These symptoms can be observed:

•Program execution is sluggish, seemingly irrational and sometimes stalls.

Possible causes

The computer system is experiencing too high load, which may be due to one, or a

combination, of the following:

•Programs containing too high a degree of logical instructions only, causing too fast

program loops and in turn, overloads the processor.

•The I/O update interval is set to a low value, causing frequent updates and a high I/O

load.

•Internal system cross connections and logical functions are used too frequently.

•An external PLC, or other supervisory computer, is addressing the system too

frequently, overloading the system.

Recommended actions

Action Info/illustration

1. Check whether the program contains logical

instructions (or other instructions that take “no

time” to execute), since such programs may

cause the execution to loop if no conditions are

fulfilled.

To avoid such loops, you can test by adding

one or more WAIT instructions. Use only short

WAIT times, to avoid slowing the program

down unnecessarily.

Suitable places to add WAIT instructions

can be:

• In the main routine, preferably

close to the end.

• In a WHILE/FOR/GOTO loop,

preferably at the end, close to the

ENDWHILE/ENDFOR etc. part

of the instruction.

2. Make sure the I/O update interval value for

each I/O board is not too low. These values are

changed using RobotStudio.

I/O units that are not read regularly may be

switched to “change of state” operation as

detailed in the RobotStudio manual.

ABB recommends these poll rates:

• DSQC 327A: 1000

• DSQC 328A: 1000

• DSQC 332A: 1000

• DSQC 377A: 20-40

• All others: >100

3. Check whether there is a large amount of cross

connections or I/O communication between

PLC and robot system.

Heavy communication with PLCs or

other external computers can cause

heavy load in the robot system main

computer.

3 Troubleshooting by fault symptoms

3.3. Low Controller performance

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4. Try to program the PLC in such a way that it

uses event driven instructions, instead of

looped instructions.

The robot system have a number of

fixed system inputs and outputs that

may be used for this purpose.

Heavy communication with PLCs or

other external computers can cause

heavy load in the robot system main

computer.

Action Info/illustration

3 Troubleshooting by fault symptoms

3.4. All LEDs are OFF at Controller

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3.4. All LEDs are OFF at Controller

Description

No LEDs at all are lit on the Control Module or the Drive Module respectively.

Consequences

The system cannot be operated or started at all.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•The system is not supplied with power.

•The main transformer is not connected for the correct mains voltage.

•Circuit breaker F6 (if used) is malfunctioning or open for any other reason.

•Contactor K41 is malfunctioning or open for any other reason.

en1000000051

Continues on next page

3 Troubleshooting by fault symptoms

3.4. All LEDs are OFF at Controller

373HAC020738-001 Revision: K

Recommended actions

Action Info

1. Make sure the main switch has been

switched on.

2. Make sure the system is supplied with

power.

Use a voltmeter to measure incoming mains

voltage.

3. Check the main transformer

connection.

The voltages are marked on the terminals.

Make sure they match the shop supply

voltage.

4. Make sure circuit breaker F6 (if used) is

closed in position 3.

The circuit breaker F6 is shown in the circuit

diagram in the product manual for the

controller.

5. Make sure contactor K41 opens and

closes when ordered.

Disconnect connector X1 from the Drive

Module power supply and measure the

incoming voltage.

Measure between pins X1.1 and X1.5.

7. If the power supply incoming voltage is

correct (230 VAC) but the LEDs still do

not work, replace the Drive Module

power supply.

Replace the power supply as detailed in the

product manual for the controller.

Continued

3 Troubleshooting by fault symptoms

3.5. No voltage in service outlet

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3.5. No voltage in service outlet

Description

Some Control Modules are equipped with service voltage outlet sockets, and this information

applies to these modules only.

No voltage is available in the Control Module service outlet for powering external service

equipment.

Consequences

Equipment connected to the Control Module service outlet does not work.

Probable causes

The symptom can be caused by (the causes are listed in order of probability):

•Tripped circuit breaker (F5)

•Tripped earth fault protection (F4)

•Mains power supply loss

•Transformers incorrectly connected

xx0500001403

Continues on next page

3 Troubleshooting by fault symptoms

3.5. No voltage in service outlet

393HAC020738-001 Revision: K

Recommended actions

Action Info

1. Make sure the circuit breaker in the

Control Module has not been

tripped.

Make sure any equipment connected to the

service outlet does not consume too much power,

causing the circuit breaker to trip.

2. Make sure the earth fault protection

has not been tripped.

Make sure any equipment connected to the

service outlet does not conduct current to ground,

causing the earth fault protection to trip.

3. Make sure the power supply to the

robot system is within specifica-

tions.

Refer to the plant documentation for voltage

values.

4. Make sure the transformer (A)

supplying the outlet is correctly

connected, i.e. input and output

voltages in accordance with speci-

fications.

xx0500002028

Refer to the plant documentation for voltage

values.

Continued

3 Troubleshooting by fault symptoms

3.6. Problem starting the FlexPendant

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3.6. Problem starting the FlexPendant

Description

The FlexPendant is completely or intermittently "dead".

No entries are possible, and no functions are available.

If the FlexPendant starts but does not display a screen image, proceed as detailed in section

Problem connecting FlexPendant to the controller on page 41.

Consequences

The system cannot be operated using the FlexPendant.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•The system has not been switched on.

•The FlexPendant is not connected to the controller.

•The cable from the controller is damaged.

•The cable connector is damaged.

•FlexPendant power supply from controller is faulty.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

1. Make sure the system is switched on and

that the FlexPendant is connected to the

controller.

How to connect the FlexPendant to the

controller is detailed in Operating manual

- Getting started, IRC5 and RobotStudio.

2. Inspect the FlexPendant cable for any visible

damage.

If faulty, replace the FlexPendant.

3. If possible, test by connecting a different

FlexPendant to eliminate the FlexPendant

and cable as error sources.

4. If possible, test the FlexPendant with a

different controller to eliminate the controller

as error source.

Continues on next page

3 Troubleshooting by fault symptoms

3.7. Problem connecting FlexPendant to the controller

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3.7. Problem connecting FlexPendant to the controller

Description

The FlexPendant starts but does not display a screen image.

No entries are possible, and no functions are available.

The FlexPendant is not completely dead. If it is dead, proceed as detailed in section Problem

starting the FlexPendant on page 40.

Consequences

The system cannot be operated using the FlexPendant.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•The Ethernet network has problems.

•The main computer has problems.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

1. Check all cables from power supply unit to main

computer, making sure these are correctly

connected.

2. Make sure the FlexPendant has been correctly

connected to the controller.

3. Check all indication LEDs on all units in the

controller.

All indication LEDs and their signifi-

cance are specified in section

Indications on page 65.

4. Check all status signals on the main computer.

Continued

3 Troubleshooting by fault symptoms

3.8. Erratic event messages on FlexPendant

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3.8. Erratic event messages on FlexPendant

Description

The event messages displayed on the FlexPendant are erratic and do not seem to correspond

to any actual malfunctions on the robot. Several types of messages can be displayed,

seemingly erroneously.

This type of fault may occur after major manipulator disassembly or overhaul, if not

performed correctly.

Consequences

Major operational disturbances due to the constantly appearing messages.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Internal manipulator cabling not correctly performed. Causes may be: faulty

connection of connectors, cable loops too tight causing the cabling to get strained

during manipulator movements, cable insulation chafed or damaged by rubbing short-

circuiting signals to earth.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

1. Inspect all internal manipulator cabling, especially

all cabling disconnected, connected re-routed or

bundled during recent repair work.

Refit any cabling as detailed in the

product manual for the robot.

2. Inspect all cable connectors to make sure these are

correctly connected and tightened.

3. Inspect all cable insulation for damage. Replace any faulty cabling as

detailed in the product manual for

the robot.

3 Troubleshooting by fault symptoms

3.9. Problem jogging the robot

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3.9. Problem jogging the robot

Description

The system can be started but the joystick on the FlexPendant does not work.

Consequences

The robot can not be jogged manually.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•The joystick is malfunctioning.

•The joystick may be deflected.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

1. Make sure the controller is in manual mode. How to change operating mode is

described in Operating manual - IRC5

with FlexPendant.

2. Make sure the FlexPendant is connected

correctly to the Control Module.

3. Reset the FlexPendant. Press Reset button located on the

back of the FlexPendant.

NOTE!

The Reset button resets the

FlexPendant not the system on the

Controller.

3 Troubleshooting by fault symptoms

3.10. Reflashing firmware failure

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3.10. Reflashing firmware failure

Description

When reflashing firmware, the automatic process can fail.

Consequences

The automatic reflashing process is interrupted and the system stops.

Possible causes

This fault usually occurs due to a lack of compatibility between hardware and software.

Consequences

The following actions are recommended (listed in order of probability):

Action Info

1. Check the event log for a message specifying

which unit failed.

The logs may also be accessed from

RobotStudio.

2. Was the relevant unit recently replaced?

If YES; make sure the versions of the old and

new unit is identical.

If NO; check the software versions.

3. Was the RobotWare recently replaced?

If YES; make sure the versions of the old and

new unit is identical.

If NO; proceed below!

4. Check with your local ABB representative for a

firmware version compatible with your

hardware/software combination.

3 Troubleshooting by fault symptoms

3.11. Inconsistent path accuracy

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3.11. Inconsistent path accuracy

Description

The path of the robot TCP is not consistent. It varies from time to time, and is sometimes

accompanied by noise emerging from bearings, gearboxes, or other locations.

Consequences

Production is not possible.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Robot not calibrated correctly.

•Robot TCP not correctly defined.

•Parallel bar damaged (applies to robots fitted with parallel bars only).

•Mechanical joint between motor and gearbox damaged. This often causes noise to be

emitted from the faulty motor.

•Bearings damaged or worn (especially if the path inconsistency is coupled with

clicking or grinding noises from one or more bearings).

•The wrong robot type may be connected to the controller.

•The brakes may not be releasing correctly.

Recommended actions

In order to remedy the symptom, the following actions are recommended (the actions are

listed in order of probability):

Action Info/Illustration

1. Make sure the robot tool and work object

are correctly defined.

How to define these are detailed in

Operating manual - IRC5 with FlexPendant.

2. Check the revolution counters’ positions. Update if required.

3. If required, recalibrate the robot axes. How to calibrate the robot is detailed in

Operating manual - IRC5 with FlexPendant.

4. Locate the faulty bearing by tracking the

noise.

Replace faulty bearing as specified in the

product manual for the robot.

5. Locate the faulty motor by tracking the

noise.

Study the path of the robot TCP to

establish which axis, and thus which

motor, may be faulty.

Replace the faulty motor/gearbox as

specified in the product manual for the robot.

6. Check the trueness of the parallel bar

(applies to robots fitted with parallel bars

only).

Replace the faulty parallel bar as specified in

the product manual for the robot.

7. Make sure the correct robot type is

connected as specified in the configura-

tion files.

8. Make sure the robot brakes work

properly.

Proceed as detailed in section Problem

releasing Robot brakes on page 50.

3 Troubleshooting by fault symptoms

3.12. Oil and grease stains on motors and gearboxes

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3.12. Oil and grease stains on motors and gearboxes

Description

The area surrounding the motor or gearbox shows signs of oil leaks. This can be at the base,

closest to the mating surface, or at the furthest end of the motor at the resolver.

Consequences

Besides the dirty appearance, in some cases there are no serious consequences if the leaked

amount of oil is very small. However, in some cases the leaking oil lubricates the motor

brake, causing the manipulator to collapse at power down.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Leaking seal between gearbox and motor.

•Gearbox overfilled with oil.

•Gearbox oil too hot.

Recommended actions

In order to remedy the symptom, the following actions are recommended (the actions are

listed in order of probability):

Action Info

CAUTION!

Before approaching the potentially hot robot

component, observe the safety information in

section CAUTION - Hot parts may cause burns! on

page 21.

2. Inspect all seals and gaskets between motor and

gearbox. The different manipulator models use

different types of seals.

Replace seals and gaskets as

specified in the product manual for

the robot.

3. Check the gearbox oil level. Correct oil level is specified in the

product manual for the robot.

4. Too hot gearbox oil may be caused by:

• Oil quality or level used is incorrect.

• The robot work cycle runs a specific axis too

hard. Investigate whether it is possible to

program small "cooling periods" into the

application.

• Overpressure created inside gearbox.

Check the recommended oil level

and type as specified in the

product manual for the robot.

Manipulators performing certain,

extremely heavy duty work cycles

may be fitted with vented oil plugs.

These are not fitted to normal duty

manipulators, but may be

purchased from your local ABB

representative.

3 Troubleshooting by fault symptoms

3.13. Mechanical noise

473HAC020738-001 Revision: K

3.13. Mechanical noise

Description

During operation, no mechanical noise should be emitted from motors, gearboxes, bearings,

or similar. A faulty bearing often emits scraping, grinding, or clicking noises shortly before

failing.

Consequences

Failing bearings cause the path accuracy to become inconsistent, and in severe cases, the joint

can seize completely.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Worn bearings.

•Contaminations have entered the bearing races.

•Loss of lubrication in bearings.

If the noise is emitted from a gearbox, the following can also apply:

•Overheating.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

CAUTION!

Before approaching the potentially hot robot

component, observe the safety information

in section CAUTION - Hot parts may cause

burns! on page 21.

2. Determine which bearing is emitting the

noise.

3. Make sure the bearing has sufficient lubrica-

tion.

As specified in the product manual for

the robot.

4. If possible, disassemble the joint and

measure the clearance.

As specified in the product manual for

the robot.

5. Bearings inside motors are not to be

replaced individually, but the complete motor

is replaced.

Replace faulty motors as specified in the

product manual for the robot.

6. Make sure the bearings are fitted correctly. Also see the product manual for the robot

for general instruction on how to handle

bearings.

3 Troubleshooting by fault symptoms

3.13. Mechanical noise

3HAC020738-001 Revision: K48

7. Too hot gearbox oil may be caused by:

• Oil quality or level used is incorrect.

• The robot work cycle runs a specific

axis too hard. Investigate whether it is

possible to program small "cooling

periods" into the application.

• Overpressure created inside

gearbox.

Check the recommended oil level and

type as specified in the product manual

for the robot.

Manipulators performing certain,

extremely heavy duty work cycles may

be fitted with vented oil plugs. These are

not fitted to normal duty manipulators,

but may be purchased from your local

ABB representative.

Action Info

3 Troubleshooting by fault symptoms

3.14. Manipulator crashes on power down

493HAC020738-001 Revision: K

3.14. Manipulator crashes on power down

Description

The manipulator is able to work correctly while Motors ON is active, but when Motors OFF

is active, it collapses under its own weight.

The holding brake, integral to each motor, is not able to hold the weight of the manipulator

arm.

Consequences

The fault can cause severe injuries or death to personnel working in the area or severe damage

to the manipulator and/or surrounding equipment.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Faulty brake.

•Faulty power supply to the brake.

Recommended actions

The following actions are recommended (listed in order of probability):

Action Info

1. Determine which motor(s) causes the robot

to collapse.

2. Check the brake power supply to the

collapsing motor during the Motors OFF

state.

Also see the circuit diagrams in the

product manuals for the robot and the

controller .

3. Remove the resolver of the motor to see if

there are any signs of oil leaks.

If found faulty, the motor must be replaced

as a complete unit as detailed in the

product manual for the robot.

4. Remove the motor from the gearbox to

inspect it from the drive side.

If found faulty, the motor must be replaced

as a complete unit as detailed in the

product manual for the robot.

Continues on next page

3 Troubleshooting by fault symptoms

3.15. Problem releasing Robot brakes

3HAC020738-001 Revision: K50

3.15. Problem releasing Robot brakes

Description

When starting robot operation or jogging the robot, the internal robot brakes must release in

order to allow movements.

Consequences

If the brakes do not release, no robot movement is possible, and a number of error log

messages can occur.

Possible causes

The symptom can be caused by (the causes are listed in order of probability):

•Brake contactor (K44) does not work correctly.

•The system does not go to status Motors ON correctly.

•Faulty brake on the robot axis.

•Supply voltage 24V BRAKE missing.

en1000000051

Continued

3 Troubleshooting by fault symptoms

3.15. Problem releasing Robot brakes

513HAC020738-001 Revision: K

Recommended actions

This section details how to proceed when the robot brakes do not release.

Action Info

1. Make sure the brake contactor is activated. A ‘tick’ should be audible, or you

may measure the resistance across

the auxiliary contacts on top of the

contactor.

2. Make sure the RUN contactors (K42 and K43) are

activated. NOTE that both contactors must be

activated, not just one!

A ‘tick’ should be audible, or you

may measure the resistance across

the auxiliary contacts on top of the

contactor.

3. Use the push buttons on the robot to test the

brakes.

If just one of the brakes malfunctions, the brake at

hand is probably faulty and must be replaced.

If none of the brakes work, there is probably no

24V BRAKE power available.

The location of the push buttons

differ, depending on robot model.

Please refer to the product manual

for the robot!

4. Check the Drive Module power supply to make

sure 24V BRAKE voltage is OK.

5. A number of other faults within the system can

cause the brakes to remain activated. In such

cases, event log messages will provide additional

information.

The event log messages can also

be accessed using RobotStudio.

3 Troubleshooting by fault symptoms

3.16. Intermittent errors

3HAC020738-001 Revision: K52

3.16. Intermittent errors

Description

During operation, errors and malfunctions may occur, in a seemingly random way.

Consequences

Operation is interrupted, and occasionally, event log messages are displayed, that sometimes

do not seem to be related to any actual system malfunction. This sort of problem sometimes

affects the Emergency stop or Enable chains respectively, and may at times be very hard to

pinpoint.

Probable causes

Such errors may occur anywhere in the robot system and may be due to:

• external interference

• internal interference

• loose connections or dry joints, e.g. incorrectly connected cable screen connections.

• thermal phenomena , e.g. major temperature changes within the workshop area.

Recommended actions

In order to remedy the symptom, the following actions are recommended (the actions are

listed in order of probability):

Action Info/illustration

1. Check all the cabling, especially the cables in the

Emergency stop and Enable chains. Make sure all

connectors are connected securely.

2. Check if any indication LEDs signal any malfunction

that may give some clue to the problem.

The significance of all

indication LEDs are specified in

section Indications on page 65.

3. Check the messages in the event log. Sometimes

specific error combinations are intermittent.

The event log messages may

be viewed either on the

FlexPendant or using Robot-

Studio.

4. Check the robot’s behaviour, etc, each time that type

of error occurs.

If possible, keep track of the

malfunctions in a log or similar.

5. Check whether any condition in the robot working

environment also changes periodically, e.g, interfer-

ence from any electric equipment only operating peri-

odically.

6. Investigate whether the environmental conditions

(such as ambient temperature, humidity, etc) has any

bearing on the malfunction.

If possible, keep track of the

malfunctions in a log or similar.

Continues on next page

4 Trouble shooting by Unit

4.1. Trouble shooting the FlexPendant

533HAC020738-001 Revision: K

4 Trouble shooting by Unit

4.1. Trouble shooting the FlexPendant

General

The FlexPendant communicates, through the Panel Board, with the Control Module main

computer. The FlexPendant is physically connected to the Panel Board through a cable in

which the +24 V supply and two Enabling Device chains run and emergency stop.

Procedure

The procedure below details what to do if the FlexPendant does not work correctly.

Action Info/illustration

1. If the FlexPendant is completely “dead”,

proceed as detailed in section Problem starting

the FlexPendant on page 40.

2. If the FlexPendant starts, but does not operate

correctly, proceed as detailed in section

Problem connecting FlexPendant to the

controller on page 41.

3. If the FlexPendant starts, seems to operate, but

displays erratic event messages, proceed as

detailed in section Erratic event messages on

FlexPendant on page 42.

4. Check the cable for connections and integrity.

5. Check the 24 V power supply.

6. Read the error event log message and follow

any instructions of references.

Continued

4 Trouble shooting by Unit

4.2. Trouble shooting communications

3HAC020738-001 Revision: K54

4.2. Trouble shooting communications

Overview

This section details how to trouble shoot data communication in the Control and Drive

Modules.

Trouble shooting procedure

When trouble shooting communication faults, follow the outline detailed below:

Action Info/illustrations

1. Faulty cables (e.g. send and receive signals are mixed

up).

2. Transfer rates (baud rates).

3. Data widths that are incorrectly set.

4 Trouble shooting by Unit

4.3. Trouble shooting fieldbuses and I/O units

553HAC020738-001 Revision: K

4.3. Trouble shooting fieldbuses and I/O units

Where to find information

Information about how to trouble shoot the fieldbuses and I/O units can be found in the

manual for the respective fieldbus or I/O unit.

4 Trouble shooting by Unit

4.4.1. Trouble shooting DSQC 604

3HAC020738-001 Revision: K56

4.4 Trouble shooting power supply

4.4.1. Trouble shooting DSQC 604

Required test equipment

Equipment needed for trouble shooting:

•Ohmmeter

•Resistive load (e.g. Main Computer DSQC 639 on +24V_PC)

•Voltmeter

Preparations

Trouble shooting procedure, DSQC 604

The trouble shooting table is supposed to be used as a detailed instruction together with the

trouble shooting flowchart, see Trouble shooting flowchart, DSQC 604 on page 58.

Action Note

1. Check the FlexPendant for errors and warnings.

Test Note Action

1. Check the indicator

LED on DSQC 604.

The indicator LED is

labelled DCOK.

If the LED is GREEN, the power

supply should be working properly.

If the LED is PULSING GREEN, the

DC outputs are probably not

connected to any units or there may

be a short circuit on an output.

Proceed with step 2.

If the LED is OFF, either the power

supply is faulty or it does not have

sufficient input voltage. Proceed with

step 4.

2. Check connections

between DC outputs

and connected units.

Make sure that the power

supply is connected to its

proper units.

A minimum load of 0.5-1A

is required on at least one

DC output for the 604 to

work properly.

If the connections are OK, proceed

with step 3.

If the connections are faulty or the

power supply is not connected to any

units at all, repair connections/

connect units. Verify that the fault has

been fixed and restart this guide if

necessary.

3. Check for short

circuits on DC

outputs.

Check both the DC

outputs on DSQC 604

and the inputs on

surrounding units.

Measure the resistance

between voltage pins and

ground. The resistance

should NOT be zero.

The DC outputs are

shown in the Circuit

Diagram in Product

manual - IRC5.

If no short circuit is found, proceed

with step 4.

If a short circuit is found on DSQC

604, proceed with step 10.

If a short circuit is found on any

surrounding unit, get that unit

working. Verify that the fault has

been fixed and restart this guide if

necessary.

4 Trouble shooting by Unit

4.4.1. Trouble shooting DSQC 604

573HAC020738-001 Revision: K

4. Disconnect one DC

output at a time and

measure its voltage.

Make sure that at least

one unit is connected at

all times. A minimum load

of 0.5- 1A is required on

at least one output for the

604 to work properly.

Measure the voltage

using a voltmeter. The

voltage should be: +24V

< U < +27V.

The DC outputs are

shown in the Circuit

Diagram in Product

manual - IRC5.

If the correct voltage is detected on

all outputs and the DCOK LED is

green, the power supply is working

properly.

If the correct voltage is detected on

all outputs and the DCOK LED is off,

the power supply is regarded as

faulty but does not have to be

replaced instantly.

If no or the wrong voltage is detected,

proceed with step 5.

5. Measure the input

voltage to the 604.

Measure the voltage

using a voltmeter. Voltage

should be: 172 < U <

276V.

The AC input is shown in

the Circuit Diagram in

Product manual - IRC5.

If the input voltage is correct,

proceed with step 10.

If no or the wrong input voltage is

detected, proceed with step 6.

6. Check switches Q1-

Make sure that they are

closed.

Their physical location is

shown in the Circuit

Diagram in Product

manual - IRC5.

If the switches are closed, proceed

with step 7.

If the switches are open, close them.

Verify that the fault has been fixed

and restart this guide if necessary.

7. Check main fuse F2

and optional fuse F6

if used.

Make sure that they are

open.

Their physical location is

shown in the Circuit

Diagram in Product

manual - IRC5.

If the fuses are open, proceed with

step 8.

If the fuses are closed, open them.

Verify that the fault has been fixed

and restart this guide if necessary.

8. Make sure that the

input voltage to the

cabinet is the correct

one for that particular

cabinet.

If the input voltage is correct,

proceed with step 9.

If the input voltage is incorrect, adjust

it. Verify that the fault has been fixed

and restart this guide if necessary.

9. Check the cabling. Make sure that the

cabling is correctly

connected and not faulty.

If the cabling is OK, the problem is

likely to be the transformer T1 or the

input filter. Try to get this part of the

supply working. Verify that the fault

has been fixed and restart this guide

if necessary.

If the cabling is found unconnected or

faulty, connect/replace it. Verify that

the fault has been fixed and restart

this guide if necessary.

Test Note Action

4 Trouble shooting by Unit

4.4.1. Trouble shooting DSQC 604

3HAC020738-001 Revision: K58

Trouble shooting flowchart, DSQC 604

en0800000354

C orrect

DC level

D SQ C 604

1. D C O K L ED

GREEN

PU LSIN G

GREEN OFF

Fix connections 2. C heck output

connections 4. M easure D C

outputs

3. C heck for

short circuits on

outputs

Fix short circuit

5. M easure A C

input

6. C heck

sw itc h e s Q 1 - 2

7. Check fuses

F2 (F6)

Close sw itches

Q1-2

8. M easure A C

to cabinet

Open fuses

9. C heck

cabling

Fix cabling

AdjustAC

input

10. R eplace D SQ C 604

Probable cause of

dysfunction:

transfo rm er T 1 or filter

T he pow er supply unit

w orks properly

Wrong

DC level

Connections

C o nnections

no t ok

Short circuit

on output(s)

Short circuit

on unit(s)

sh o rt c ircu it

Correct

AC level

Wrong

AC level

Sw itches

open

Sw itches

closed

Fuses

open

Fuses

closed

AC ok

A C not ok

Cabling

Faulty

cabling

4 Trouble shooting by Unit

4.4.2. Trouble shooting DSQC 661

593HAC020738-001 Revision: K

4.4.2. Trouble shooting DSQC 661

Required test equipment

Equipment needed for trouble shooting:

•Ohmmeter

•Resistive load (e.g. Main Computer DSQC 639 on +24V_PC)

•Voltmeter

Preparations

Trouble shooting procedure, DSQC 661

The trouble shooting table is supposed to be used as a detailed instruction together with the

trouble shooting flowchart, see Trouble shooting flowchart, DSQC 661 on page 61.

Action

1. Check the FlexPendant for errors and warnings.

2. Make sure that the control system power supply is in run-time mode.

Do this by waiting 30 seconds after power-on.

Test Note Action

1. Check the indicator

LED on DSQC 661.

The indicator LED is labelled

DCOK.

If the LED is GREEN, the 661

should be working properly.

If the LED is PULSING GREEN,

the DC output is probably not

connected to any unit (load) or

there may be a short circuit on the

output. Proceed with step 2.

If the LED is OFF, either the 661 is

faulty or it does not have sufficient

input voltage. Proceed with step

2. Check connection

between DC output

and connected unit.

Make sure that the power

supply is connected to

DSQC 662.

A minimum load of 0.5-1A is

required on the DC output

for the 661 to work properly.

If the connection is OK, proceed

with step 3.

If the connection is faulty or the

power supply is not connected to

DSQC 662, repair connection/

connect it. Verify that the fault has

been fixed and restart this guide if

necessary.

3. Check for short

circuit on DC output.

Check both the DC output on

DSQC 661 and the input on

DSQC 662.

Measure the resistance

between voltage pins and

ground. The resistance

should NOT be zero.

The DC output is shown in

the Circuit Diagram in

Product manual - IRC5.

If no short circuit is found, proceed

with step 4.

If a short circuit is found on DSQC

661, proceed with step 10.

If a short circuit is found on DSQC

662, get that unit working. Verify

that the fault has been fixed and

restart this guide if necessary.

Continues on next page

4 Trouble shooting by Unit

4.4.2. Trouble shooting DSQC 661

3HAC020738-001 Revision: K60

4. Measure the DC

voltage while the

output is connected

to DSQC 662 or

some other load.

DSQC 661 requires a

minimum load of 0.5- 1A in

order for it to deliver +24V.

Measure the voltage using a

voltmeter. The voltage

should be: +24V < U < +27V.

The DC output is shown in

the Circuit Diagram in

Product manual - IRC5.

If the correct voltage is detected

and the DCOK LED is green, the

power supply is working properly.

If the correct voltage is detected

and the DCOK LED is off, the

power supply is regarded as faulty

but does not have to be replaced

instantly.

If no or the wrong voltage is

detected, proceed with step 5.

5. Measure the input

voltage to the 661.

Measure the voltage using a

voltmeter. Voltage should

be: 172 < U < 276V.

The AC input is shown in the

Circuit Diagram in Product

manual - IRC5.

If the input voltage is correct,

proceed with step 10.

If no or the wrong input voltage is

detected, proceed with step 6.

6. Check switches Q1-

Make sure that they are

closed.

Their physical location is

shown in the Circuit Diagram

in Product manual - IRC5.

If the switches are closed,

proceed with step 7.

If the switches are open, close

them. Verify that the fault has

been fixed and restart this guide if

necessary.

7. Check main fuse F2

and optional fuse F6

if used.

Make sure that they are

open.

Their physical location is

shown in the Circuit Diagram

in Product manual - IRC5.

If the fuses are open, proceed

with step 8.

If the fuses are closed, open

them. Verify that the fault has

been fixed and restart this guide if

necessary.

8. Make sure that the

input voltage to the

cabinet is the correct

one for that particular

cabinet.

If the input voltage is correct,

proceed with step 9.

If the input voltage is incorrect,

adjust it. Verify that the fault has

been fixed and restart this guide if

necessary.

9. Check the cabling. Make sure that the cabling is

correctly connected and not

faulty.

If the cabling is OK, the problem is

likely to be the transformer T1 or

the input filter. Try to get this part

of the supply working. Verify that

the fault has been fixed and

restart this guide if necessary.

If the cabling is found

unconnected or faulty, connect/

replace it. Verify that the fault has

been fixed and restart this guide if

necessary.

10. The 661 may be

faulty, replace it and

verify that the fault

has been fixed.

How to replace the unit is

detailed in Product manual -

IRC5.

Test Note Action

Continued

Continues on next page

4 Trouble shooting by Unit

4.4.2. Trouble shooting DSQC 661

613HAC020738-001 Revision: K

Trouble shooting flowchart, DSQC 661

en0800000355

C orrect

DC level

D SQ C 661

1. D C O K L ED

GREEN

PU LSIN G

GREEN OFF

Fix connection 2. C heck output

co nnection 4. M easure D C

output

3. C heck for

short circuit on

output

Fix short circuit

5. M easure A C

input

6. C heck

sw itc h e s Q 1 - 2

7. Check fuses

F2 (F6)

Close sw itches

Q1-2

8. M easure A C

to cabinet

Open fuses

9. C heck

cabling

Fix cabling

AdjustAC

input

10. R eplace D SQ C 661

Probable cause of

dysfunction:

transfo rm er T 1 or filter

T he pow er supply unit

w orks properly

Wrong

DC level

Connections

C o nnections

no t ok

Short circuit

on output(s)

Short circuit

on unit(s)

sh o rt c ircu it

Correct

AC level

Wrong

AC level

Sw itches

open

Sw itches

closed

Fuses

open

Fuses

closed

AC ok

A C not ok

Cabling

Faulty

cabling

Continued

4 Trouble shooting by Unit

4.4.3. Trouble shooting DSQC 662

3HAC020738-001 Revision: K62

4.4.3. Trouble shooting DSQC 662

Required test equipment

Equipment needed for trouble shooting:

•Ohmmeter

•Resistive load (e.g. Main Computer DSQC 639 on +24V_PC)

•Voltmeter

Preparations

Trouble shooting procedure, DSQC 662

The trouble shooting table is supposed to be used as a detailed instruction together with the

trouble shooting flowchart, see Trouble shooting flowchart, DSQC 662 on page 64.

Action Note

1. Check the FlexPendant for errors and warnings.

2. Make sure that the power distribution board is in

run-time mode.

Do this by waiting 1 minute after power-on.

When the AC power has been cut

off, the indicator LED (Status

LED) on DSQC 662 will turn red

and stay red until UltraCAP is

empty. This may take a long time

and is completely normal. It does

not mean that there is something

wrong with the 662.

Test Note Action

1. Check the indicator

LED on DSQC 662.

The indicator LED is labelled

Status LED.

If the LED is GREEN, the 662

should be working properly.

If the LED is PULSING GREEN, a

USB communication error has

occurred. Proceed with step 2.

If the LED is RED, the input/output

voltage is low, and/or the logic

signal ACOK_N is high. Proceed

with step 4.

If the LED is PULSING RED, one

or more DC outputs are under

specified voltage level. Make sure

cables are properly connected to

its respective units. Proceed with

step 4.

If the LED is PULSING

REDGREEN, a firmware upgrade

error has occurred. This is not

supposed to happen during

runtime mode, proceed with step

If the LED is OFF, either the 662 is

faulty or it does not have sufficient

input voltage. Proceed with step

Continues on next page

4 Trouble shooting by Unit

4.4.3. Trouble shooting DSQC 662

633HAC020738-001 Revision: K

2. Check USB

connection on both

ends.

If the connection seems OK,

proceed with step 6.

If there is a problem with the

connection, proceed with step 3.

3. Try to fix the commu-

nication between the

power supply and

the computer by

reconnecting the

cable.

Make sure that the USB

cable is properly connected

on both ends.

If the communication comes back

up, verify that the fault has been

fixed and restart this guide if

necessary.

If unable to fix the communication,

proceed with step 6.

4. Disconnect one DC

output at a time and

measure its voltage.

Make sure that at least one

unit is connected at all times.

A minimum load of 0.5- 1A is

required on at least one

output for the 662 to work

properly.

Measure the voltage using a

voltmeter. The voltage

should be: +24V < U < +27V.

The DC outputs are shown in

the Circuit Diagram in

Product manual - IRC5.

If the correct voltage is detected

on all outputs and the Status LED

is green, the power supply is

working properly.

If the correct voltage is detected

on all outputs and the Status LED

is NOT green, the power supply is

regarded as faulty but does not

have to be replaced instantly.

If no or the wrong voltage is

detected, proceed with step 5.

5. Measure the input

voltage to the 662

and the ACOK_N

signal.

Measure the voltage using a

voltmeter. Input voltage

should be: 24 < U < 27V and

ACOK_N should be 0V.

Make sure that connectors

X1 and X2 are connected

properly on both ends.

The DC input X1 and

ACOK_N connector X2 are

shown in the Circuit Diagram

in Product manual - IRC5.

If the input voltage is correct,

proceed with step 6.

If no or the wrong input voltage is

detected, troubleshoot DSQC

661.

6. The 662 may be

faulty, replace it and

verify that the fault

has been fixed.

How to replace the unit is

detailed in Product manual -

IRC5.

Test Note Action

Continued

Continues on next page

4 Trouble shooting by Unit

4.4.3. Trouble shooting DSQC 662

3HAC020738-001 Revision: K64

Trouble shooting flowchart, DSQC 662

en0800000356

24V not ok

D SQ C 662

1. D C O K L ED

GREEN

PU LSIN G

GREEN

2. C heck U SB

co nnection

6. R eplace D SQ C 662

T he pow er supply unit

w ork s pro perly

RED

PU LSIN G

RED

OFF

3. Fix

co nnection

4. M easure D C

outputs

5. M easure

24V _D C input

and A C O K

T roubleshoot

DSQC 661

PU L SIN G

RED -GREEN

Correct

DC level

W rong

DC level

C onnected

Not

connected Problem

with USB

C onnection ok

USB

C om m unication

er ro r

Low DC

input/output

O utputs low

Firm w are upgrade

error

24V ok

Continued

5 Descriptions and background information

5.1.1. LEDs in the Control Module

653HAC020738-001 Revision: K

5 Descriptions and background information

5.1 Indications

5.1.1. LEDs in the Control Module

General

The Control Module features a number of indication LEDs, which provide important

information for trouble shooting purposes. If no LEDs light up at all when switching the

system on, trouble shoot as detailed in section All LEDs are OFF at Controller on page 36

All LEDs on the respective units, and their significance, are described in the following

sections.

All units with LEDs are shown in the illustration below:

LEDs

Single cabinet controller

en1000000039

AEthernet board (any of the four board slots)

BComputer unit (DSQC 639)

CCustomer I/O power supply (up to three units)

DControl module power supply

ELED board

Continues on next page

5 Descriptions and background information

5.1.1. LEDs in the Control Module

3HAC020738-001 Revision: K66

Control module for Dual cabinet controller

en1000000035

BEthernet board (any of the four board slots)

CComputer unit (DSQC 639)

DCustomer I/O power supply (up to three units)

EControl module power supply

FLED board

Continued

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5 Descriptions and background information

5.1.1. LEDs in the Control Module

673HAC020738-001 Revision: K

Ethernet board

The illustration below shows the LEDs on the Ethernet board:

en0400000919

AAXC2 connector LED

BAXC3 connector LED

CAXC4 connector LED

Description Significance

AXC2

connector

LED

Shows the status of Ethernet communication between Axis Computer 2 and

the Ethernet board.

GREEN OFF:10 Mbps data rate has been selected.

GREEN ON:100 Mbps data rate has been selected.

YELLOW flashing: The two units are communicating on the Ethernet channel.

YELLOW steady: A LAN link is established.

YELLOW OFF: A LAN link is not established.

AXC3

connector

LED

Shows the status of Ethernet communication between Axis Computer 3 and

the Ethernet board

See the description above!

AXC4

connector

LED

Shows the status of Ethernet communication between Axis Computer 4 and

the Ethernet board

See the description above!

Continued

5 Descriptions and background information

5.1.1. LEDs in the Control Module

3HAC020738-001 Revision: K68

Control module Power supply

The illustration below shows the LEDs on the Control module power supply:

DSQC

xx0400001073

DSQC 661

en1000000041

DSQC 662

en1000000042

ADCOK indicator

Description Significance

DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.

OFF: When one or more DC output/s below the specified minimum level.

5 Descriptions and background information

5.1.1. LEDs in the Control Module

693HAC020738-001 Revision: K

Control module Power distribution board

Customer Power Supply

The illustration below shows the LEDs on the Customer Power Supply Module:

en1000000037

Computer unit

The illustration below shows the LEDs on the Computer unit:

en1000000040

Description Significance

DCOK indicator GREEN: When DC output is above the specified minimum level.

OFF: When the DC output below the specified minimum level.

ADCOK indicator

Description Significance

DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.

OFF: When one or more DC output/s below the specified minimum level.

Description Significance

Status LED Shows the status of the communication on the computer unit

Continues on next page

5 Descriptions and background information

5.1.1. LEDs in the Control Module

3HAC020738-001 Revision: K70

Panel board

The illustration below shows the LEDs on the Panel board:

dummy

The panel board LEDs are described from top to bottom below:

LED board

The function of the LEDs on the LED board are identical to those on the Panel board as

described above.

Should the LED board not be working, but the Panel board is, the problem is the

communication between these boards or the LED board itself. Check the cabling between

them.

APanel board LEDs

Description Significance

Status LED GREEN flashing: serial communication error.

GREEN steady: no errors found and system is running.

RED flashing: system is in power up/selftest mode.

RED steady: other error than serial communication error.

Indication LED, ES1 YELLOW when Emergency stop chain 1 closed

Indication LED, ES2 YELLOW when Emergency stop chain 2 closed

Indication LED, GS1 YELLOW when General stop switch chain 1 closed

Indication LED, GS2 YELLOW when General stop switch chain 2 closed

Indication LED, AS1 YELLOW when Auto stop switch chain 1 closed

Indication LED, AS2 YELLOW when Auto stop switch chain 2 closed

Indication LED, SS1 YELLOW when Superior stop switch chain 1 closed

Indication LED, SS2 YELLOW when Superior stop switch chain 2 closed

Indication LED, EN1 YELLOW when ENABLE1=1 and RS-communication is OK

Continued

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5 Descriptions and background information

5.1.2. LEDs in the Drive Module for Drive System 04

713HAC020738-001 Revision: K

5.1.2. LEDs in the Drive Module for Drive System 04

General

The Drive Module features a number of indication LEDs, which provide important

information for trouble shooting purposes. If no LEDs light up at all when switching the

system on, trouble shoot as detailed in section All LEDs are OFF at Controller on page 36.

All LEDs on the respective units, and their significance, are described in the following

sections.

All units with LEDs are shown in the illustration below:

LEDs

xx0400001084

ARectifier

BAxis Computer

CContactor interface board

DSingle servo drive

EDrive Module Power Supply

FMain drive unit

Continued

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5 Descriptions and background information

5.1.2. LEDs in the Drive Module for Drive System 04

3HAC020738-001 Revision: K72

Axis computer

The illustration below shows the LEDs on the Axis computer:

xx0300000023

AStatus LED

BEthernet LEDs

Description Significance

Status LED Normal sequence during startup:

1. RED steady: Default at power-up.

2. GREEN flashing: Establish connection to main computer, retrieve

IP address and download the application file.

3. GREEN steady. Start-up sequence ready. Application is running.

The following indicates errors:

• RED steady (forever): The axis computer has failed to initialize

basic hardware.

• RED (long) -> GREEN flashing (short) -> RED (long) -> GREEN

flashing (short) -> ... : Missing connection to main computer.

Possible cable problem.

• RED (short) -> GREEN flashing (long) -> RED (short) -> GREEN

flashing (long) -> ... : Connection established with main computer.

Possible RobotWare problem in main computer.

• GREEN flashing (forever): Possible cable or RobotWare problem in

main computer.

Ethernet LED Shows the status of Ethernet communication between an additional axis

computer (2, 3 or 4) and the Ethernet board.

• GREEN OFF:10 Mbps data rate has been selected. This is an error

state.

• GREEN ON:100 Mbps data rate has been selected.

• YELLOW flashing: The two units are communicating on the

Ethernet channel.

• YELLOW steady: A LAN link is established.

• YELLOW OFF: A LAN link is not established.

Continued

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5 Descriptions and background information

5.1.2. LEDs in the Drive Module for Drive System 04

733HAC020738-001 Revision: K

Main drive unit, single drive unit and rectifier unit

The illustration below shows the indication LEDs on the main drive unit, single drive unit and

rectifier unit.

NOTE that there are two types of main drive units: a six unit drive and a three unit drive which

are both used to power a six axes robot. Shown in the illustration is a six unit drive. The three

unit drive is half the size of the six unit drive, but the indication LED is positioned in the same

place.

xx0400001089

ASingle drive unit

BRectifier unit

CMain drive unit

DIndication LED, single servo drive

EIndication LED, rectifier unit

FIndication LED, main drive unit

Description Significance

Indication LEDs

D, E and F

GREEN flashing: Internal function is OK and there is a malfunction in the

interface to the unit. The unit does not need to be replaced.

GREEN steady: Program loaded successfully, unit function OK and all

interfaces to the units is fully functional.

RED steady: Permanent internal fault detected. The LED is to have this

mode in case of failure at internal self test at start-up, or in case of detected

internal failure state in running system. The unit probably needs to be

replaced.

Continued

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5 Descriptions and background information

5.1.2. LEDs in the Drive Module for Drive System 04

3HAC020738-001 Revision: K74

Drive Module Power Supply

The illustration below shows the LEDs on the Drive Module power supply:

xx0400001090

Contactor interface board

The illustration below shows the LEDs on the Contractor interface board:

xx0400001091

ADCOK indicator

Description Significance

DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.

OFF: When one or more DC output/s below the specified minimum

level.

AStatus LED

Description

Status LED GREEN flashing: serial communication error.

GREEN steady: no errors found and system is running.

RED flashing: system is in power up/selftest mode.

RED steady: other error than serial communication error.

Continued

5 Descriptions and background information

5.1.3. LEDs in the Drive Module for Drive System 09

753HAC020738-001 Revision: K

5.1.3. LEDs in the Drive Module for Drive System 09

General

The Drive Module features a number of indication LEDs, which provide important

information for trouble shooting purposes. If no LEDs light up at all when switching the

system on, trouble shoot as detailed in section All LEDs are OFF at Controller on page 36.

All LEDs on the respective units, and their significance, are described in the following

sections.

All units with LEDs are shown in the illustration below:

Units

xx0800000484

AMain Drive Unit

BAdditional Drive Units

CAxis computer

DDrive Module power supply

EContactor interface board

Continues on next page

5 Descriptions and background information

5.1.3. LEDs in the Drive Module for Drive System 09

3HAC020738-001 Revision: K76

Axis computer

The illustration below shows the LEDs on the Axis computer:

xx0800000485

AStatus LED

BEthernet LED

Description Significance

Status LED Normal sequence during startup:

1. RED steady: Default at power-up.

2. RED flashing: Establish connection to main computer and load

program to axis computer.

3. GREEN flashing: Start-up of axis computer program and connect

peripheral units.

4. GREEN steady. Start-up sequence ready. Application is running.

The following indicates errors:

• DARK: No power to axis computer or internal error (hardware/

firmware).

• RED steady (forever): The axis computer has failed to initialize

basic hardware.

• RED flashing (forever): Missing connection to main computer, main

computer start-up problem or RobotWare installation problem.

• GREEN flashing (forever): Missing connections to peripheral units

or RobotWare start-up problem.

Continued

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5 Descriptions and background information

5.1.3. LEDs in the Drive Module for Drive System 09

773HAC020738-001 Revision: K

Main Drive Unit and Additional Drive Unit

The illustration below shows the indication LEDs on the Main Drive Unit and Additional

Drive Units.

xx0800000486

Ethernet LED Shows the status of Ethernet communication between an additional axis

computer (2, 3 or 4) and the Ethernet board.

• GREEN OFF:10 Mbps data rate has been selected.

• GREEN ON:100 Mbps data rate has been selected.

• YELLOW flashing: The two units are communicating on the

Ethernet channel.

• YELLOW steady: A LAN link is established.

• YELLOW OFF: A LAN link is not established.

Description Significance

AMain Drive Unit

BMain Drive Unit Ethernet LEDs

CAdditional Drive Unit

DAdditional Drive Unit Ethernet LEDs

Continued

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5 Descriptions and background information

5.1.3. LEDs in the Drive Module for Drive System 09

3HAC020738-001 Revision: K78

Drive Module Power Supply

The illustration below shows the LEDs on the Drive Module power supply:

xx0400001090

Contactor interface board

The illustration below shows the LEDs on the Contractor interface board:

xx0400001091

Description Significance

Ethernet LEDs

(B and D)

Shows the status of Ethernet communication between an additional axis

computer (2, 3 or 4) and the Ethernet board.

• GREEN OFF:10 Mbps data rate has been selected.

• GREEN ON:100 Mbps data rate has been selected.

• YELLOW flashing: The two units are communicating on the

Ethernet channel.

• YELLOW steady: A LAN link is established.

• YELLOW OFF: A LAN link is not established.

ADCOK indicator

Description Significance

DCOK indicator GREEN: When all DC outputs are above the specified minimum levels.

OFF: When one or more DC output/s below the specified minimum

level.

AStatus LED

Description

Status LED GREEN flashing: serial communication error.

GREEN steady: no errors found and system is running.

RED flashing: system is in power-up/self-test mode.

RED steady: other error than serial communication error.

Continued

6 Trouble shooting by Event log

793HAC020738-001 Revision: K

6 Trouble shooting by Event log

10002, Program pointer has been reset

Description

The program pointer of task arg has been reset.

Consequences

When started, program execution will start on the first instruction of

the task's entry routine. NOTE that the manipulator may move to

unexpected position when restarted!

Probable causes

The operator has probably requested this action manually.

10009, Work memory full

Description

The task arg has no memory left for new RAPID instructions or data.

Recommended actions

Save the program and then restart the system.

10010, Motors OFF state

Description

The system is in the Motors OFF state. It enters this state either after

switching from Manual mode to Automatic, or after the Motors ON

circuit has been opened during program execution.

Consequences

No operation will be possible until after closing the Motors ON circuit.

The manipulator's axes are meanwhile held in position by mechanical

holding brakes.

10011, Motors ON state

Description

The system is in the Motors ON state.

Consequences

The Motors ON circuit has been closed., enabling power supply to the

manipulator's motors. Normal operation may be resumed.

10012, Safety guard stop state

Description

The system is in the Guard stop state. It enters this state either after

switching from Automatic mode to Manual, or after the Motors ON

circuit has been opened by an Emergency Stop, General Stop,

Automatic Stop or Superior Stop.

Consequences

No operation will be possible until after closing the Motors ON circuit.

The manipulator's axes are meanwhile held in position by mechanical

holding brakes.

Probable causes

Any safety device connected to the system's stop inputs have been

opened. These are shown in the Circuit Diagram.

Recommended actions

1. Check which safety device caused the stop.

2. Close the device.

3. To resume operation, switch the system back to state Motors ON.

10013, Emergency stop state

Description

The system is in the Emergency stop state, since the Motors ON circuit

has been opened by an Emergency Stop device.

Consequences

All program execution and thus robot actions are immediately halted.

The robot axes are meanwhile held in position by mechanical holding

brakes.

Probable causes

Any emergency stop device connected to the emergency stop input

have been opened. These may be internal (on the controller or on the

teach pendant) or external (devices connected by the system builder).

The internal devices are shown in the Circuit Diagram.

Recommended actions

1) Check which emergency stop device caused the stop.

2) Close/reset the device.

3) To resume operation, switch the system back to state Motors ON by

pressing this button on the Control Module.

10014, System failure state

Description

Execution of all NORMAL tasks has been stopped due to malfunction.

Consequences

No start of program execution or manual manipulator jogging will be

possible until after the system has been restarted.

Probable causes

A large number of malfunctions may cause this condition. Please use

the teach pendant or RobotStudio to check other event log messages

for events occurring at this time!

Recommended actions

1. Determine what caused the stop by studying the event log.

2. Remedy the fault.

3. Restart the system as detailed in the Operator's Manual.

10015, Manual mode selected

Description

The system is in the Manual mode.

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6 Trouble shooting by Event log

80 3HAC020738-001 Revision: K

Consequences

Programmed operation is possible, but only with a max. speed of 250

mm/s. The manipulator may also be jogged manually after pressing the

enabling device on the teach pendant.

10016, Automatic mode requested

Description

The system has been ordered to go to the Automatic mode.

Consequences

The system will go to the Automatic mode after confirmed from teach

pendant.

10017, Automatic mode confirmed

Description

The system is in the Automatic mode.

Consequences

The enabling device is disconnected. The robot can move without

human intervention.

10018, Manual mode full speed requested

Description

The system has been ordered to go to the Manual mode without any

speed restraints.

Consequences

The system will go to the Manual mode full speed.

10019, Manual mode full speed confirmed

Description

The system is in the Manual mode without any speed restraints.

Consequences

Programmed operation is possible while pressing the hold-to-run

button on the teach pendant. The manipulator may also be jogged

manually after pressing the enabling device on the teach pendant.

10020, Execution error state

Description

The program execution in task arg has been stopped due to a

spontaneous error.

Consequences

No program execution will be possible until the error has been

removed.

Probable causes

A large number of malfunctions may cause this condition. Please use

the teach pendant or RobotStudio to check other event log messages

for events occurring at this time!

Recommended actions

1. Determine what caused the stop by studying the event log.

2. Remedy the fault.

3. If neccesary, move Program Pointer to main before pressing start

button.

10021, Execution error reset

Description

The program execution in task arg has left a spontaneous error state.

10024, Collision triggered

Description

Some mechanical part of the manipulator has collided with a piece of

fixed equipment in the cell.

Consequences

Manipulator movement is interrupted and program execution is

stopped.

10025, Collision confirmed

Description

The collision detection has been confirmed.

Recommended actions

10026, Collision retraction

Description

The manipulator has attempted to back away from the obstacle, into

which it collided, and succeeded.

Consequences

The system is ready to go back to normal operation.

10027, Collision retraction fail

Description

The manipulator has attempted to back away from the obstacle, into

which it collided, and failed.

Consequences

The system is NOT ready to go back to normal operation.

Probable causes

This may be caused by the robot being stuck to the object into which it

collided.

Recommended actions

1) Go to Manual Mode.

2) Manually run the robot away from the object.

3) Resume operation by restarting the program.

Continued

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6 Trouble shooting by Event log

813HAC020738-001 Revision: K

10030, All axes commutated

Description

After checking, the system has found all manipulator axes to be

commutated.

Consequences

Normal operation is possible.

10031, All axes calibrated

Description

After checking, the system has found all manipulator axes to be

calibrated.

Consequences

Normal operation is possible.

10032, All revolution counters updated

Description

After checking, the system has found all revolution counters for all

manipulator axes to be updated.

Consequences

Normal operation is possible.

10033, All axes synchronized

Description

After checking, the system has found all manipulator axes to be

synchronized.

Consequences

Normal operation is possible.

10034, Axis not commutated

Description

After checking, the system has found that one or more manipulator

axes are not commutated.

Consequences

To enable operation, all manipulator axes must be commutated.

Probable causes

The manipulator drive motor and related units may have been altered,

e.g. after replacing a faulty unit.

Recommended actions

Commutate the manipulator axes as detailed in the manipulator

Product Manual.

10035, Axis not calibrated

Description

After checking, the system has found that one or more manipulator

axes are not calibrated.

Consequences

To enable operation, all manipulator axes must be calibrated.

Probable causes

The manipulator drive motor and related units may have been altered,

e.g. after replacing a faulty unit.

Recommended actions

Calibrate the manipulator axes as detailed in the manipulator Product

Manual.

10036, Revolution counter not updated

Description

After checking, the system has found that the revolution counters of

one or more manipulator axes are not updated.

Consequences

To enable operation, the revolution counters of all manipulator axes

must be updated.

Probable causes

The manipulator drive motor and related units may have been altered,

e.g. after replacing a faulty unit.

Recommended actions

Update the revolution counters of all manipulator axes as detailed in

the manipulator Product Manual.

10037, Axis not synchronized

Description

After checking, the system has found that one or more manipulator

axes are not synchronized.

Consequences

To enable operation, all manipulator axes must be synchronized.

Probable causes

The manipulator drive motor and related units may have been altered,

e.g. after replacing a faulty unit.

Recommended actions

Synchronize the manipulator axes as detailed in the manipulator

Product Manual.

10038, SMB memory is OK

Description

During startup, the system has found that all data on the Serial

Measurement Board (SMB) is OK.

Continued

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6 Trouble shooting by Event log

82 3HAC020738-001 Revision: K

Consequences

Operation is possible.

10039, SMB memory is not OK

Description

During startup, the system has found that data in the Serial

Measurement Board (SMB) memory is not OK.

Consequences

All data must be OK before automatic operation is possible. Manually

jogging the robot is possible.

Probable causes

There are differences between the data stored on the SMB and the data

stored in the controller. This may be due to replacement of SMB,

controller or both.

Recommended actions

1) Update the Serial Measurement Board data as detailed in Operator's

Manual, IRC5.

10040, Program loaded

Description

A program or program module has been loaded into task arg. After

loading, arg bytes memory remain. The size of the loaded program is

arg.

10041, Program deleted

Description

A program or program module was deleted from task arg.

Consequences

If the deleted program contained the task entry routine, the program

will no longer be executable.

Probable causes

The program may have been removed manually.

Recommended actions

1) Define an entry routine in one of the task's remaining programs, or:

2) Load a program containing an entry routine.

10042, Axis recalibrated

Description

Fine calibration or rev counter update was made for an axis in an

already synchronized mechanical unit.

10043, Restart failed

Description

The task arg can't restart.

10044, Program Pointer updated

Description

The task arg could have changed the Program Pointer position.

Recommended actions

10045, System restarted

Description

An already installed system was restarted.

Recommended actions

10046, System restarted in cold mode

Description

First start after installation.

Recommended actions

10048, Background task did stop

Description

The task arg stopped without reason.

Recommended actions

10051, Event routine error

Description

The task arg could not start the specified system event routine arg. The

routine is either unknown to the system or the program is unlinkable.

Recommended actions

Insert the routine in a system module or correct the program.

10052, Regain start

Description

A regain movement has started.

Recommended actions

10053, Regain ready

Description

The regain movement is ready.

Recommended actions

10054, Regain rejected

Description

Regain on path not possible, as one client has already ordered it.

Continued

6 Trouble shooting by Event log

833HAC020738-001 Revision: K

Recommended actions

A new regain movement is ordered during an already started regain

movement. Reduce the number of start orders from e.g system I/O

10055, Path process restarted

Description

The path process has been restarted.

Recommended actions

10060, Test of enable chain

Description

The enable chain is always tested at startup. If the test failed an error

message concerning enable will follow.

Recommended actions

If enable chain test at startup failed the related error message will be

"Enable chain timeout"

10061, A target has been modified

Description

A target in module arg in task arg has been modified or tuned.

Start line arg, column arg, end line arg.

10062, A module has been edited.

Description

Module arg in task arg has been edited between lines: arg, arg.

10063, Module has been edited

Description

Module arg in task arg has been edited.

10064, A module has been erased.

Description

Module arg in task arg has been erased.

10065, New user has started to modify RAPID.

Description

User arg has started with RAPID program modifications in task arg.

10066, Not possible to load system module

Description

System module arg in task arg cannot be loaded since the file is not

found.

10067, Program Pointer Reset

Description

Unable to reset the program pointer for task arg.

Consequences

The program will not start.

Probable causes

- No program is loaded.

- The main routine is missing.

- There are errors in the program.

Recommended actions

1. Load program if no program is loaded.

2. Check that the program has a main routine. If there is no main

routine, add one.

3. Check for errors in the program and correct them.

4. See previous error messages in the Event log.

10068, Start Program

Description

Unable to start program for task arg.

Consequences

The program will not execute.

10074, NFS server up

Description

The control system communicates correctly with the NFS server arg.

10075, NFS server down

Description

The control system is not able to communicate correctly with the NFS

server arg.

Consequences

If the server arg is defined as TRUSTED, robot program execution will

be stopped. If the server is defined as NON-TRUSTED, execution will

proceed. These definitions are specified in the Application manual -

Robot communication and I/O control.

Probable causes

If this message is displayed at first start-up, the server configuration

may be incorrect. If displayed during operation, the previously

working communication has been lost due to a broken connection.

Also see the I/O event log!

Recommended actions

1. Check the NFS server configuration.

2. Check all communication hardware, cables and such.

3. Check NFS client configuration on the controller.

6 Trouble shooting by Event log

84 3HAC020738-001 Revision: K

10076, FTP server up

Description

The control system communicates correctly with the FTP server arg.

10077, FTP server down

Description

The control system is not able to communicate correctly with the FTP

server arg.

Consequences

If the server arg is defined as TRUSTED, robot program execution will

be stopped. If the server is defined as NON-TRUSTED, execution will

proceed. These definitions are specified in the Application manual -

Robot communication and I/O control.

Probable causes

If this message is displayed at first start-up, the server configuration

may be incorrect. If displayed during operation, the previously

working communication has been lost due to a broken connection.

Also see the I/O event log!

Recommended actions

1. Check the FTP server configuration.

2. Check all communication hardware, cables and such.

3. Check the FTP client configuration on the controller.

10080, An updated RAPID file is found

Description

The SEMISTATIC task arg has an older version of a module installed

than the source arg

Recommended actions

Restart the system with a P-START to install the newer version.

10081, Background task arg

Description

failed to load a newer version of a module. The source of the module

is arg.

Recommended actions

See previous messages for the cause or restart the system with a P-

START to load the newer version.

10082, RAPID Task supervision

Description

Task arg is not running. The system will be set in SysFail state. It's now

impossible to change to motors on arg.

Recommended actions

See previous messages for the cause. Restart the system to reset the

error state.

10083, RAPID Task supervision

Description

Task arg is not running. The system will be set in motors off state. arg

Recommended actions

See previous messages for the cause.

10084, RAPID Task supervision

Description

Task arg is not running. All NORMAL tasks will also be stopped.

Recommended actions

See previous messages for the cause.

10085, RAPID Task supervision

Description

Task arg can't be stopped. The trustLevel is set to a safety level.

Recommended actions

If the task should be possible to stop change the trustLevel or task type

in the system parameters menu.

10086, Robot is purged OK

Description

Purging pressure regained after a purge fault.

Recommended actions

10087, Purge state: arg.

Description

State changed.

Recommended actions

10090, P-Start done

Description

A P-Start is done.

Consequences

After restart the system's state will be resumed except for manually

loaded programs and modules. Static and semistatic tasks are restarted

from the beginning, not from the state they had when the system was

stopped.

Modules will be installed and loaded in accordance with the set

configuration. System parameters will not be affected.

Probable causes

1. The P-start was ordered by the user.

2. The system forced the P-start due to inconsistent data, malfunction

or unrecoverable task state.

6 Trouble shooting by Event log

853HAC020738-001 Revision: K

10091, Restart not possible

Description

A restart after collision detection is not possible before acknowledge

the error dialogue.

Recommended actions

10092, (Re)start not possible

Description

(Re)start is not possible due to lost contact with IO module arg

configured with trustlevel 3.

Recommended actions

10093, (Re)start not possible

Description

(Re)start of task arg is not possible before a warm start is done.

Recommended actions

The background task is configured with Trustlevel set to SysHalt

10095, At least one task is unchecked in the

task selection panel

Description

One or more of the NORMAL tasks are unchecked in the task selection

panel when performing a (re)start.

Recommended actions

10096, arg not active!

Description

The workobject arg contains a coordinated mechanical unit which is

not activated.

Recommended actions

Activate the mechanical unit and perform the operation again.

10097, Restart not possible

Description

The task arg is set in blocked state and the program is for that reason

not possible to restart from the current program position.

Recommended actions

The Program Pointer must be moved before restart.

10098, Restart not possible

Description

The task arg has been in system failure state and the program is for that

reason not possible to restart from the current program position.

Recommended actions

The Program Pointer must be moved before restart.

10099, Program start rejected

Description

The system has performed a soft stop, and the program may not be

restarted.

Consequences

The system goes to the Motors OFF state and can not be started. The

full meaning of this status is described in the Trouble shooting manual,

IRC5.

Probable causes

The soft stop may be caused by opening the safety circuit.

Recommended actions

1) Check the safety circuits for an open switch.

2) Go to Motors ON and restart the program.

10106, Service Message

Description

It's time for service for robot arg because it is arg days since the last

service.

Recommended actions

10107, Service Message

Description

It remains arg days for robot arg until it's time for service.

Recommended actions

10108, Service Message

Description

It's time for service for robot arg cause it's arg hours of production

since last service.

Recommended actions

10109, Service Message

Description

It remains arg hours of production for robot arg to next service.

Recommended actions

10110, Service Message

Description

The gearbox at arg of robot arg needs service.

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Recommended actions

10111, Service Message

Description

The gearbox at arg of robot arg has reached arg of its service interval.

Recommended actions

10112, Service Message

Description

The system date and time has changed.

This could cause problems with the SIS calender notification.

Recommended actions

The SIS parameters Calender Limit and Calender Warning might need

to be changed

10120, Program stopped

Description

The task arg has stopped. The reason is that an external or internal stop

after current instruction has occurred.

Recommended actions

10121, Program stopped

Description

The task arg has stopped. The reason is that the task has reached an exit

instruction.

Recommended actions

10122, Program stopped

Description

The task arg has stopped. The reason is that the task is ready.

Recommended actions

10123, Program stopped

Description

The task arg has stopped. The reason is that the task is ready with this

step.

Recommended actions

10124, Program stopped

Description

The task arg has stopped. The reason is that the task has reached a

break instruction.

Recommended actions

10125, Program stopped

Description

The task arg has stopped. The reason is that an external or internal stop

has occurred.

Recommended actions

10126, Program stopped

Description

The task arg has stopped. The reason is that an error has occurred.

Recommended actions

10127, Backward execution not possible

Description

The task arg has stopped. The reason is that it is not possible to execute

backward past beginning of instruction list.

Recommended actions

10128, Backward execution not possible

Description

The task arg has stopped. The reason is that it is not possible to execute

backward past the instruction.

Recommended actions

10129, Program stopped

Description

The task arg has stopped. The reason is that the event routine for

RESET or POWER_ON is ready.

Recommended actions

10130, Program stopped

Description

The task arg has stopped. The reason is that the task is ready with this

move step.

Recommended actions

10131, Program stopped

Description

The task arg has stopped. The reason is that the routine called from

system IO interrupt is ready.

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873HAC020738-001 Revision: K

Recommended actions

10132, Program stopped

Description

The task arg has stopped. The reason could not be determined.

Recommended actions

10133, Program stopped

Description

The task arg has stopped. The reason is that the task is ready with the

execution of the UNDO handlers.

10150, Program started

Description

Execution of task arg has been started from the first instruction of the

task's entry routine. The originator could not be determined.

Recommended actions

10151, Program started

Description

Execution of task arg has been started from the first instruction of the

task's entry routine. The originator is an external client.

Recommended actions

10152, Program started

Description

Execution of task arg has been started from the first instruction of the

task's entry routine. The start order was initiated by an action causing

the UNDO handler to execute.

10155, Program restarted

Description

Execution of task arg has been restarted from where it was previously

stopped. The originator could not be determined.

Recommended actions

10156, Program restarted

Description

Execution of task arg has been restarted from where it was previously

stopped. The originator is an external client.

Recommended actions

10157, Program restarted

Description

Execution of task arg has been restarted from where it was previously

stopped. The restart order was initiated by an action causing the

UNDO handler to execute.

10170, Background task arg

Description

refuse to start. Task is empty.

Recommended actions

10171, Background task arg

Description

refuse to start. Wrong state.

Recommended actions

10172, Background task arg

Description

refuse to start. Can't set PP to the main routine.

Probable causes

The module that contains the main routine was not loaded since the

module file is missing in the target directory.

The module that contains the main routine was not loaded since the

configuration file has no entry for automatic loading of the module.

The main routine is missing.

The main entry is corrupted.

Recommended actions

Load the module by hand or perform an I-start when the cause of the

problem is removed.

10173, Background task arg

Description

refuse to start. Can't set the execution mode.

Recommended actions

10174, Background task arg

Description

refuse to start. The start order failed.

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Recommended actions

10175, Background task arg

Description

refuse to start due to a syntax error.

Recommended actions

10176, Background task arg

Description

refuse to start. Can't load module.

Probable causes

The module file is missing in the target directory.

Recommended actions

1. Copy the module file to the target directory.

2. Perform an I-start.

10177, Task refuses to start

Description

Task arg:

There is not sufficient program memory or the program memory is

fragmented. Modules could be missing or data may not have been

installed.

Recommended actions

1. Unload/reload modules and warmstart.

2. Split large data structures.

3. P-start the system.

4. Increase stack size for task.

10178, A static/semistatic task can't be stepped

Description

Task arg can't be started.

A static/semistatic task can only run in continuous mode.

Consequences

No tasks will be started.

Probable causes

Trying to step (forward or backward) a static/semistatic task.

Recommended actions

Start arg in continuous mode.

10185, Task could not be prepared for start

Description

Task arg:

There is not sufficient program memory or the program memory is

fragmented. Modules could be missing or data may not have been

installed.

Recommended actions

1. Unload/reload modules and warm start.

2. Split large data structures.

3. P-start the system.

10190, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

The system is trying to selfheal.

Recommended actions

10191, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

A pending error is removed from the queue.

Recommended actions

10192, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

A pending exit is removed from the queue.

Recommended actions

10193, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

This may result in an extra program cycle.

Recommended actions

10194, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

The task will be restarted from the main routine.

Recommended actions

10195, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

All tasks are reset and all user programs are lost.

Recommended actions

Try to save the user program and do a warm start of the system

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10196, Protected area not done

Description

A power fail did occur in the middle of a protected area for the task arg.

Recommended actions

10210, Execution cancelled

Description

The restart will clear the execution in task arg of a POWER ON system

event routine.

Recommended actions

10211, Execution cancelled

Description

The restart will clear the execution in task arg of a STOP system event

routine.

Recommended actions

10212, Execution cancelled

Description

The restart will clear the execution in task arg of an EMERGENCY

STOP system event routine.

Recommended actions

10213, Execution cancelled

Description

The restart will clear the execution in task arg of a START system

event routine.

Recommended actions

10214, Execution cancelled

Description

The restart will clear the execution in task arg of a RESTART system

event routine.

Recommended actions

10215, Execution cancelled

Description

The restart will clear the execution in task arg of a RESET system

event routine.

Recommended actions

10216, Execution cancelled

Description

The restart will clear the execution in task arg of an INTERNAL

system event routine.

Recommended actions

10217, Execution cancelled

Description

The restart will clear the execution in task arg of a USER routine.

Recommended actions

10218, Execution cancelled

Description

The restart will clear the execution in task arg.

Recommended actions

10219, Execution cancelled

Description

The restart will clear the execution in task argof a STEP system event

routine.

Recommended actions

10230, Backup step ready

Description

The backup step Prepare is ready.

Recommended actions

10231, Backup step ready

Description

The backup step Configuration is ready.

Recommended actions

10232, Backup step ready

Description

The backup of Task is ready.

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Recommended actions

10250, Restore step ready

Description

The restore step Prepare is ready.

Recommended actions

10251, Restore step ready

Description

The restore step Configuration is ready.

Recommended actions

10252, Restore step ready

Description

The restore of Task is ready.

Recommended actions

10253, Restore step ready

Description

The restore of User Task is ready.

Recommended actions

10260, System diagnostics info generated

Description

System diagnostics information was successfully generated to file arg

10261, System diagnostics info unavailable

Description

User requested to save diagnostics system information to file arg.

System was unable to fulfill this request.

Consequences

Diagnostics system information is normally used when reporting a

problem with the system to ABB support.

Probable causes

The system is in such state that it is not possible to generate the

requested information.

Please check that the device has enough space left.

Recommended actions

If you are experiencing a problem with the system contact ABB

support.

10270, Cyclic Brake Check Done

Description

The Cyclic Brake Check has been done for all brakes supervised by

Safety Controllers.

10300, A P-Start is ordered

Description

The P-Start has been ordered from the system.

Recommended actions

10301, A P-Start is ordered

Description

The P-Start has been ordered manually or automatically during a

configuration.

Recommended actions

10304, An update has been ordered

Description

An update of program configuration is done.

Recommended actions

10350, Update of task failed

Description

The system could not update task arg to the new configuration.

Recommended actions

10351, A task is removed

Description

The task arg was removed because of configuration changes.

Recommended actions

10352, A task is added

Description

The task arg was installed because of configuration changes.

Recommended actions

10353, A task is reinstalled

Description

The task arg was reinstalled because of configuration changes.

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Recommended actions

10354, Restore aborted due to lost system data.

Description

The system is using a backup of the system data, since the system data

was not properly saved at last shutdown. Due to this, a previously

ordered Restore from directory arg was attempted again, but was

aborted.

Consequences

No RAPID programs or modules will be loaded.

Probable causes

The system data was not properly saved at last shutdown.

Recommended actions

After recovering from the system data loss by a (B)ackup-Restart or

system re-installation, please verify that the backup directory arg is

OK, and perform the Restore again.

10355, Restore error

Description

Error during the restore of Task. Trying to load to unknown task, arg.

Consequences

Loading has been aborted for arg.

Probable causes

The current system doesn't have the same options as the one used to

create the backup.

10400, User arg logged on

Description

User arg logged on using arg.

10401, User arg logged off

Description

User arg using arg logged off.

10420, New unsafe robot path

Description

The robot path has been cleared after a target has been modified in task

arg. The robot will for that reason move towards the position pointed

out by the move instruction at the program pointer. Move instructions

between the modified target and the program pointer will be skipped.

Consequences

The programmed speed is used for this movement.

The new untested path may contain obstacles that might cause a

collision.

Recommended actions

Check your program pointer and move it if necessary.

Reduce the speed.

10421, Planned path not aborted

Description

A target that may be part of the planned robot path has been modified.

The new target position will be used the next time the instruction with

the target is executed.

Consequences

The current planned path is using the old target position.

Recommended actions

If the current planned path is unsafe, move the program pointer to abort

it.

11020, Backup error

Description

Error during the backup step Prepare. Unknown error.

Recommended actions

arg

11021, Backup error

Description

Error during the backup step Prepare. General error.

Recommended actions

arg

11022, Backup error

Description

Error during the backup step Prepare. The directory contains items that

are to be created.

Recommended actions

arg

11023, Backup error

Description

Error during the backup step Prepare. The directory lacks at least one

neccessary item.

Recommended actions

arg

11024, Backup error

Description

Error during the backup step Prepare. The directory does not exist.

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Recommended actions

arg

11025, Backup error

Description

Error during the backup step Prepare. Directory cannot be created.

Recommended actions

arg

11026, Backup error

Description

Error during the backup step Prepare. Error whilst writing the backup.

Recommended actions

arg

11027, Backup error

Description

Error during the backup step Prepare. Error reading configuration

parameters.

Recommended actions

arg

11028, Backup error

Description

Error during the backup step Prepare. Error writing configuration

parameters.

Recommended actions

arg

11029, Backup error

Description

Error during the backup step Prepare. The structure is too deep.

Recommended actions

arg

11030, Backup error

Description

Error during the backup step Prepare. No more objects.

Recommended actions

arg

11031, Backup error

Description

Error during the backup step Prepare. The directory lacks at least one

neccessary item.

Recommended actions

arg

11032, Backup error

Description

Error during the backup step Prepare. The system version doesn't

match the backup.

Recommended actions

arg

11033, Backup error

Description

Error during the backup step Prepare. Error restoring configuration

parameters.

Recommended actions

arg

11034, Backup error

Description

Error during the backup step Prepare. Error restoring configuration

parameters.

Recommended actions

arg

11035, Backup error

Description

Error during the backup step Prepare. Mismatch between current

system and the backup.

Recommended actions

arg

11036, Backup error

Description

Error during the backup step Prepare. Write error.

Consequences

The backup will be incomplete.

Probable causes

You may not have write access to the backup drive.

The drive might be full.

If it is a network drive you might have lost connection.

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Recommended actions

arg

11037, Backup error

Description

Error during the backup step Prepare. At least one modname is too

long.

Recommended actions

arg

11038, Backup error

Description

Error during the backup step Prepare. Unknown task.

Recommended actions

arg

11039, Backup error

Description

Error during the backup step Prepare. Storage media full.

Recommended actions

arg

11040, Backup error

Description

Error during the backup step Prepare. Item not possible to delete.

Recommended actions

arg

11120, Backup error

Description

Error during the backup step Configuration. Unknown error.

Recommended actions

11121, Backup error

Description

Error during the backup step Configuration. General error.

Recommended actions

11122, Backup error

Description

Error during the backup step Configuration. The directory contains

items that are to be created.

Recommended actions

11123, Backup error

Description

Error during the backup step Configuration. The directory lacks at

least one neccessary item.

Recommended actions

11124, Backup error

Description

Error during the backup step Configuration. The directory does not

exist.

Recommended actions

11125, Backup error

Description

Error during the backup step Configuration. Directory cannot be

created.

Recommended actions

11126, Backup error

Description

Error during the backup step Configuration. Error whilst writing the

backup.

Recommended actions

11127, Backup error

Description

Error during the backup step Configuration. Error reading

configuration parameters.

Recommended actions

11128, Backup error

Description

Error during the backup step Configuration. Error writing

configuration parameters.

Recommended actions

11129, Backup error

Description

Error during the backup step Configuration. The structure is too deep.

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Recommended actions

11130, Backup error

Description

Error during the backup step Configuration. No more objects.

Recommended actions

11131, Backup error

Description

Error during the backup step Configuration. The directory lacks at

least one neccessary item.

Recommended actions

11132, Backup error

Description

Error during the backup step Configuration. The system version

doesn't match the backup.

Recommended actions

11133, Backup error

Description

Error during the backup step Configuration. Error restoring

configuration parameters.

Recommended actions

11134, Backup error

Description

Error during the backup step Configuration. Error restoring

configuration parameters.

Recommended actions

11135, Backup error

Description

Error during the backup step Configuration. Mismatch between

current system and the backup.

Recommended actions

11136, Backup error

Description

Error during the backup step Configuration. Write error.

Recommended actions

11137, Backup error

Description

Error during the backup step Configuration. At least one modname is

too long.

Recommended actions

11138, Backup error

Description

Error during the backup step Configuration. Unknown task.

Recommended actions

11139, Backup error

Description

Error during the backup step Configuration. Storage media full.

Recommended actions

11140, Backup error

Description

Error during the backup step Configuration. Item not possible to

delete.

Recommended actions

11220, Backup error

Description

Error during the backup of Task. Unknown error.

Recommended actions

11221, Backup error

Description

Error during the backup of Task. General error.

Recommended actions

11222, Backup error

Description

Error during the backup of Task. The directory contains items that are

to be created.

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953HAC020738-001 Revision: K

Recommended actions

11223, Backup error

Description

Error during the backup of Task. The directory lacks at least one

neccessary item.

Recommended actions

11224, Backup error

Description

Error during the backup of Task. The directory does not exist.

Recommended actions

11225, Backup error

Description

Error during the backup of Task. Directory cannot be created.

Recommended actions

11226, Backup error

Description

Error during the backup of Task. Error whilst writing the backup.

Recommended actions

11227, Backup error

Description

Error during the backup of Task. Error reading configuration

parameters.

Recommended actions

11228, Backup error

Description

Error during the backup of Task. Error writing configuration

parameters.

Recommended actions

11229, Backup error

Description

Error during the backup of Task. The structure is too deep.

Recommended actions

11230, Backup error

Description

Error during the backup of Task. No more objects.

Recommended actions

11231, Backup error

Description

Error during the backup of Task. The directory lacks at least one

neccessary item.

Recommended actions

11232, Backup error

Description

Error during the backup of Task. The system version doesn't match the

backup.

Recommended actions

11233, Backup error

Description

Error during the backup of Task. Error restoring configuration

parameters.

Recommended actions

11234, Backup error

Description

Error during the backup of Task. Error restoring configuration

parameters.

Recommended actions

11235, Backup error

Description

Error during the backup of Task. Mismatch between current system

and the backup.

Recommended actions

11236, Backup error

Description

Error during the backup of Task. Write error.

Recommended actions

Check: No space left on device. Corrupt device.

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11237, Backup error

Description

Error during the backup of Task. At least one modname is too long.

Recommended actions

11238, Backup error

Description

Error during the backup of Task. Unknown task.

Recommended actions

11239, Backup error

Description

Error during the backup of Task. Storage media full.

Recommended actions

11240, Backup error

Description

Error during the backup of Task. Item not possible to delete.

Recommended actions

12020, Restore error

Description

Error during the restore step Prepare. Unknown error.

Recommended actions

arg

12021, Restore error

Description

Error during the restore step Prepare. General error.

Recommended actions

arg

12022, Restore error

Description

Error during the restore step Prepare. The directory contains items that

are to be created.

Recommended actions

arg

12023, Restore error

Description

Error during the restore step Prepare. The directory lacks at least one

neccessary item.

Recommended actions

arg

12024, Restore error

Description

Error during the restore step Prepare. The directory does not exist.

Recommended actions

arg

12025, Restore error

Description

Error during the restore step Prepare. Directory cannot be created.

Recommended actions

arg

12026, Restore error

Description

Error during the restore step Prepare. Error whilst writing the backup.

Recommended actions

arg

12027, Restore error

Description

Error during the restore step Prepare. Error reading configuration

parameters.

Recommended actions

arg

12028, Restore error

Description

Error during the restore step Prepare. Error writing configuration

parameters.

Recommended actions

arg

12029, Restore error

Description

Error during the restore step Prepare. The structure is too deep.

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973HAC020738-001 Revision: K

Recommended actions

arg

12030, Restore error

Description

Error during the restore step Prepare. No more objects.

Recommended actions

arg

12031, Restore error

Description

Error during the restore step Prepare. The directory lacks at least one

neccessary item.

Recommended actions

arg

12032, Restore error

Description

Error during the restore step Prepare. The system version doesn't

match the backup.

Recommended actions

arg

12033, Restore error

Description

Error during the restore step Prepare. Error restoring configuration

parameters.

Recommended actions

arg

12034, Restore error

Description

Error during the restore step Prepare. Error restoring configuration

parameters.

Recommended actions

arg

12035, Restore error

Description

Error during the restore step Prepare. Mismatch between current

system and the backup.

Recommended actions

arg

12036, Restore error

Description

Error during the restore step Prepare. Write error.

Recommended actions

arg

12037, Restore error

Description

Error during the restore step Prepare. At least one modname is too

long.

Recommended actions

arg

12038, Restore error

Description

Error during the restore step Prepare. Unknown task.

Recommended actions

arg

12039, Restore error

Description

Error during the restore step Prepare. Storage media full.

Recommended actions

arg

12040, Restore error

Description

Error during the restore step Prepare. Item not possible to delete.

Recommended actions

arg

12120, Restore error

Description

Error during the restore step Configuration. Unknown error.

Recommended actions

12121, Restore error

Description

Error during the restore step Configuration. General error.

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Recommended actions

12122, Restore error

Description

Error during the restore step Configuration. The directory contains

items that are to be created.

Recommended actions

12123, Restore error

Description

Error during the restore step Configuration. The directory lacks at least

one neccessary item.

Recommended actions

12124, Restore error

Description

Error during the restore step Configuration. The directory does not

exist.

Recommended actions

12125, Restore error

Description

Error during the restore step Configuration. Directory cannot be

created.

Recommended actions

12126, Restore error

Description

Error during the restore step Configuration. Error whilst writing the

backup.

Recommended actions

12127, Restore error

Description

Error during the restore step Configuration. Error reading

configuration parameters.

Recommended actions

12128, Restore error

Description

Error during the restore step Configuration. Error writing

configuration parameters.

Recommended actions

12129, Restore error

Description

Error during the restore step Configuration. The structure is too deep.

Recommended actions

12130, Restore error

Description

Error during the restore step Configuration. No more objects.

Recommended actions

12131, Restore error

Description

Error during the restore step Configuration. The directory lacks at least

one neccessary item.

Recommended actions

12132, Restore error

Description

Error during the restore step Configuration. The system version doesn't

match the backup.

Recommended actions

12133, Restore error

Description

Error during the restore step Configuration. Error restoring

configuration parameters.

Recommended actions

12134, Restore error

Description

Error during the restore step Configuration. Error restoring

configuration parameters.

Recommended actions

12135, Restore error

Description

Error during the restore step Configuration. Mismatch between current

system and the backup.

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Recommended actions

12136, Restore error

Description

Error during the restore step Configuration. Write error.

Recommended actions

12137, Restore error

Description

Error during the restore step Configuration. At least one modname is

too long.

Recommended actions

12138, Restore error

Description

Error during the restore step Configuration. Unknown task.

Recommended actions

12139, Restore error

Description

Error during the restore step Configuration. Storage media full

Recommended actions

12140, Restore error

Description

Error during the restore step Configuration. Item not possible to delete.

Recommended actions

12220, Restore error

Description

Error during the restore of Task. Unknown error.

Recommended actions

12221, Restore error

Description

Error during the restore of Task. General error.

Recommended actions

12222, Restore error

Description

Error during the restore of Task. The directory contains items that are

to be created.

Recommended actions

12223, Restore error

Description

Error during the restore of Task. The directory lacks at least one

neccessary item.

Recommended actions

12224, Restore error

Description

Error during the restore of Task. The directory does not exist

Recommended actions

12225, Restore error

Description

Error during the restore of Task. Directory cannot be created

Recommended actions

12226, Restore error

Description

Error during the restore of Task. Error whilst writing the backup

Recommended actions

12227, Restore error

Description

Error during the restore of Task. Error reading configuration

parameters

Recommended actions

12228, Restore error

Description

Error during the restore of Task. Error writing configuration

parameters

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Recommended actions

12229, Restore error

Description

Error during the restore of Task. The structure is too deep

Recommended actions

12230, Restore error

Description

Error during the restore of Task. No more objects

Recommended actions

12231, Restore error

Description

Error during the restore of Task. The directory lacks at least one

neccessary item.

Recommended actions

12232, Restore error

Description

Error during the restore of Task. The system version doesn't match the

backup.

Recommended actions

12233, Restore error

Description

Error during the restore of Task. Error restoring configuration

parameters.

Recommended actions

12234, Restore error

Description

Error during the restore of Task. Error restoring configuration

parameters.

Recommended actions

12235, Restore error

Description

Error during the restore of Task. Mismatch between current system and

the backup.

Recommended actions

12236, Restore error

Description

Error during the restore of Task. Write error.

Recommended actions

12237, Restore error

Description

Error during the restore of Task. At least one modname is too long.

Recommended actions

12238, Restore error

Description

Error during the restore of Task. Unknown task.

Recommended actions

12239, Restore error

Description

Error during the restore of Task. Storage media full.

Recommended actions

12240, Restore error

Description

Error during the restore of Task. Item not possible to delete.

Recommended actions

12320, Restore error

Description

Error during the restore of User Task. Unknown error.

Recommended actions

12321, Restore error

Description

Error during the restore of User Task. General error.

Recommended actions

12322, Restore error

Description

Error during the restore of User Task. The directory contains items that

are to be created.

6 Trouble shooting by Event log

1013HAC020738-001 Revision: K

Recommended actions

12323, Restore error

Description

Error during the restore of User Task. The directory lacks at least one

neccessary item.

Recommended actions

12324, Restore error

Description

Error during the restore of User Task. The directory does not exist

Recommended actions

12325, Restore error

Description

Error during the restore of User Task. Directory cannot be created

Recommended actions

12326, Restore error

Description

Error during the restore of User Task. Error whilst writing the backup

Recommended actions

12327, Restore error

Description

Error during the restore of User Task. Error reading configuration

parameters

Recommended actions

12328, Restore error

Description

Error during the restore of User Task. Error writing configuration

parameters

Recommended actions

12329, Restore error

Description

Error during the restore of User Task. The structure is too deep

Recommended actions

12330, Restore error

Description

Error during the restore of User Task. No more objects

Recommended actions

12331, Restore error

Description

Error during the restore of User Task. The directory lacks at least one

neccessary item.

Recommended actions

12332, Restore error

Description

Error during the restore of User Task. The system version doesn't

match the backup.

Recommended actions

12333, Restore error

Description

Error during the restore of User Task. Error restoring configuration

parameters.

Recommended actions

12334, Restore error

Description

Error during the restore of User Task. Error restoring configuration

parameters.

Recommended actions

12335, Restore error

Description

Error during the restore of User Task. Mismatch between current

system and the backup.

Recommended actions

12336, Restore error

Description

Error during the restore of User Task. Write error.

6 Trouble shooting by Event log

102 3HAC020738-001 Revision: K

Recommended actions

12337, Restore error

Description

Error during the restore of User Task. At least one modname is too

long.

Recommended actions

12338, Restore error

Description

Error during the restore of User Task. Unknown task.

Recommended actions

12339, Restore error

Description

Error during the restore of User Task. Storage media full.

Recommended actions

12340, Restore error

Description

Error during the restore of User Task. Item not possible to delete.

Recommended actions

12510, Network subnet mask illegal

Description

The subnet mask arg for network interface arg is illegal.

Consequences

The network interface will not be configured, and may not be used.

Probable causes

The network subnet mask may be mistyped.

Recommended actions

1) Make sure the network subnet mask is correct.

12511, Network interface IP address illegal

Description

The network IP address arg for interface arg is illegal/missing.

Consequences

The interface will not be configured, and may not be used.

Probable causes

The network IP address may be mistyped or it already exists on the

network.

Recommended actions

1) Make sure the interface IP address is correct and not a duplicate.

12512, Network gateway IP address illegal

Description

The default gateway IP address arg is illegal/missing or the LAN IP

address arg is illegal.

Consequences

The network will not be reached, and may not be used.

Probable causes

The gateway IP and/or LAN IP addresses may be mistyped.

Recommended actions

1) Make sure the gateway IP and LAN IP addresses are correct.

12513, No parameters from the DHCP server

Description

The network interface arg has not received any parameters from the

DHCP server.

Consequences

The interface will not be configured, and may not be used.

Probable causes

The LAN connection is not working -The DHCP server is not

activated.

Recommended actions

1) Make sure the LAN cable is working and correctly connected.

2) Make sure the DHCP server is activated.

3) Set the LAN IP address manually.

12514, Network interface initialization error

Description

The network interface arg could not be initialized.

Consequences

The interface will not be configured, and may not be used.

Probable causes

The network parameters may be wrong.

-Although unlikely, the hardware may be faulty, requiring

replacement.

Recommended actions

1) Make sure the network parameters for the interface at hand are

correct.

2) Isolate the cause, by replacing the suspected hardware.

6 Trouble shooting by Event log

1033HAC020738-001 Revision: K

20010, Emergency stop state

Description

The emergency stop circuit has previously been broken, and while

broken, an attempt was made to operate the robot.

Consequences

The system remains in state "Waiting for Motors ON after emergency

stop".

Probable causes

An attempt has been made to maneuvre a control, before switching the

system back to status Motors ON.

Recommended actions

1) To resume operation, switch the system back to state Motors ON by

pressing the Motors ON button on the Control Module.

20011, Emergency stop state.

Description

Emergency stop reset is required.

Recommended actions

First release the Em stop button

and then press the panel button.

20012, Sys failure state active

Description

Fatal non-recoverable system error.

Warm start is required.

Recommended actions

Turn the mains switch off and on

again if the soft restart command is

ignored or not possible to reach.

20025, Stop order timeout

Description

The stop order was carried out

as a forced guard stop when

no acknowledgement was received

within the expected time

Recommended actions

20030, Axis not commutated

Description

One or several internal drive unit

axes are not commutated.

Recommended actions

20031, Axis not calibrated.

Description

One or several absolute/relative

measurement axes are not calibrated.

Recommended actions

Check what axis that are not

calibrated and calibrate them.

20032, Rev. counter not updated

Description

Revolution counter is not updated.

One or several absolute measurement

axes are not synchronized.

Recommended actions

Move the axes to the sync position

and update the revolution counters.

20033, Axis not synchronized.

Description

One or several relative measurement

axes are not synchronized.

Recommended actions

Order Motors On and synchronize all

mechanical units in the list.

20034, SMB memory is not OK

Description

This action or state is not allowed since data in the Serial Measurement

Board (SMB) memory is not OK.

Consequences

All data must be OK before automatic operation is possible. Manually

jogging the robot is possible.

Probable causes

There are differences between the data stored on the SMB and the data

stored in the controller. This may be due to replacement of SMB,

controller or both, or manually cleared SMB.

Recommended actions

1) Update the Serial Measurement Board data as detailed in Operator's

Manual, IRC5.

6 Trouble shooting by Event log

104 3HAC020738-001 Revision: K

20051, Not allowed command

Description

The command is only allowed when the client is in control of the

resource (program/motion).

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Check if the client is in control, by checking "Write Access" in

RobotStudio.

2) Check if the client who ought to be in control really is.

20054, Not allowed command

Description

The command is NOT allowed when the program is executing.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the program is not executing.

20060, Not allowed command

Description

The command is not allowed in Auto mode.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT in Auto Mode.

20061, Not allowed command

Description

The command is not allowed when changing to Auto mode.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT changing to Auto Mode.

20062, Not allowed command

Description

The command is not allowed in Manual mode.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT in Manual Mode.

20063, Not allowed command

Description

The command is not allowed in Manual full speed mode.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT in Manual full speed Mode.

20064, Not allowed command

Description

The command is not allowed when changing to Manual full speed

mode.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT changing to Manual full speed Mode.

20065, Not allowed command

Description

The command is only allowed in Manual mode (reduced or full speed).

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT in Auto mode or changing to Manual

Mode (reduced or full speed).

20070, Not allowed command

Description

The command is not allowed in Motors ON state.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is in Motors OFF state.

6 Trouble shooting by Event log

1053HAC020738-001 Revision: K

20071, Not allowed command

Description

The command is not allowed while changing to Motors ON state.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Investigate by whom and why the action was requested, and, if

required, correct the reason.

20072, Not allowed command

Description

The command is not allowed in Motors OFF state.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is in Motors ON state.

20073, Not allowed command

Description

The command is not allowed while changing to Motors OFF state.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Investigate by whom and why the action was requested, and, if

required, correct the reason.

20074, Not allowed command

Description

The command is not allowed in Guard Stop state.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Make sure the system is NOT in Guard Stop state.

20075, Not allowed command

Description

The command is not allowed in Emergency Stop state.

Consequences

Emergency stop reset is required.

Recommended actions

1) Make sure the system is NOT in Emergency Stop state.

20076, Not allowed command

Description

The command is not allowed in System Failure state.

Consequences

A non-recoverable system error has resulted, and a warm start is

required.

Recommended actions

1) Make sure the system is NOT in Emergency Stop state.

2) Perform a restart as detailed in the Operator's Manual, IRC5.

3) If restarting is not possible, switch the main power OFF and then

back ON.

20080, Not allowed command

Description

The command is not allowed when axis has not been commutated.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Commutate the axis as detailed in the Additional Axes Manual.

2) Investigate by whom and why the action was requested, and, if

required, correct the reason.

20081, Not allowed command

Description

The command is not allowed when axis is not calibrated.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Calibrate the axis as detailed in the Calibration Pendulum

Instruction or the Instructions for Levelmeter calibration, depending

on which equipment to be used.

20082, Not allowed command

Description

The command is not allowed when axis revolution counter is not

updated.

Consequences

The system remains in the same status, and the requested action will

not be performed.

6 Trouble shooting by Event log

106 3HAC020738-001 Revision: K

Recommended actions

1) Update the revolution counter as detailed in Operator's Manual,

IRC5.

20083, Not allowed command

Description

The command is not allowed when axis is not synchronized.

Consequences

The system remains in the same status, and the requested action will

not be performed.

Recommended actions

1) Synchronize the axis as detailed in the Calibration Pendulum

Instruction or the Instructions for Levelmeter calibration, depending

on which equipment to be used.

20084, Not allowed command

Description

This command is not allowed since data in the Serial Measurement

Board (SMB) memory is not OK.

Consequences

All data must be OK before automatic operation is possible. Manually

jogging the robot is possible.

Recommended actions

1) Update the Serial Measurement Board data as detailed in Operator's

Manual, IRC5.

20088, Automatic Mode Rejected

Description

The speed could not be set to 100% when automatic mode was

requested.

Consequences

The system can not enter automatic mode.

Probable causes

The speed could not be set to 100%.

Recommended actions

1) Switch back to manual mode

2a) Set the speed in the QuickSet menu

2b) or set System Parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to No if the system should be in debug mode

when switching to auto.

3) Switch back to automatic mode and confirm.

20089, Automatic Mode Rejected

Description

The call chain was altered to begin at a routine other than main and

could not be reset to main when automatic mode was requested.

Consequences

The system can not enter automatic mode.

Probable causes

Program pointer could not be set to Main.

Recommended actions

1) Switch back to manual mode.

2a) Move PP to main.

2b) or if the program always shall start at the new routine, change

System Parameter "Main entry" (Domain Controller, Type Task) to the

new routine name.

2c) or set System Parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to No if the system should be in debug mode

when switching to auto.

3) Switch back to automatic mode and confirm.

20092, Not allowed command

Description

Not allowed in state

System IO Start Blocked.

Recommended actions

20093, Automatic Mode Rejected

Description

One or more of the NORMAL tasks were disabled and could not be

enabled when automatic mode was requested.

Consequences

The system can not enter automatic mode.

Probable causes

It is not possible to reset Task Selection Panel in synchronized block.

Recommended actions

1) Switch back to manual mode.

2a) Set PP to main.

2b) or step out of synchronized block.

2c) or set System Parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to No if the system should be in debug mode

when switching to auto.

3) Switch back to automatic mode and confirm.

20094, Load name could not be found

Description

Load name arg could not be found.

Consequences

It is not possible to jog without a correct defined load.

Probable causes

The module with the load definition is probably deleted.

6 Trouble shooting by Event log

1073HAC020738-001 Revision: K

Recommended actions

Load module with load definition.

Choose other load.

20095, Tool name could not be found

Description

Tool name arg could not be found.

Consequences

It is not possible to jog without a correct defined tool.

Probable causes

The module with the tool definition is probably deleted.

Recommended actions

Load module with tool definition.

Choose other tool.

20096, WorkObject name could not be found

Description

WorkObject name arg could not be found.

Consequences

It is not possible to jog without a correct defined workobject.

Probable causes

The module with the workobject definition is probably deleted.

Recommended actions

Load module with workobject definition.

Choose other workobject.

20097, Not allowed to jog with LOCAL PERS

Load

Description

The object arg is of type LOCAL PERS and is not possible to jog.

Recommended actions

Change Load.

20098, Not allowed to jog with LOCAL PERS

Tool

Description

The object arg is of type LOCAL PERS and is not possible to jog.

Recommended actions

Change Tool.

20099, Not allowed to jog with LOCAL PERS

Work Object

Description

The object arg is of type LOCAL PERS and is not possible to jog.

Recommended actions

Change Work Object.

20101, TP (program) in control.

Description

The teachpendant programming

window has focus and is in control

of the program server.

Recommended actions

Change to the production window

and perform the command again.

20103, Controller busy updating Task Selection

Panel.

Description

The Task Selection Panel is having an update.

It is not possible to do the requested command.

Recommended actions

Perform the command again or

make a warm start and perform the command again.

20105, Backup already in progress

Description

A backup is already in progress.

Consequences

The command "Backup" from System Input Signal will be rejected.

Recommended actions

Use System Output Signal "Backup in progress" to control if a backup

can be strarted or not.

20106, Backup path

Description

There are errors in the backup path or the backup name in the

configuration for the System Input Backup. The directory for the

backup can not be created.

Backup path: arg

Backup name: arg

Consequences

The command "Backup" from System Input Signal will be rejected.

6 Trouble shooting by Event log

108 3HAC020738-001 Revision: K

Recommended actions

Verify that configured path and name for the System Input Backup are

correct.

20111, TP (program) in control

Description

The teachpendant programming

window has focus and is in control

of the program server.

Recommended actions

Change to the production window

and perform the command again.

20120, System IO in control

Description

See Title

Recommended actions

20126, Load data has changed

Description

The active load arg was removed and replaced with arg. The load data

was located in task: arg connected to mechanical unit arg.

Consequences

The load definition for jogging may not be correct.

Probable causes

The load data was removed. The module containing the original tool

definition may have been deleted.

Recommended actions

If you require the old definition, locate the program or module of the

original load data and load it.

20127, Tool data has changed

Description

The active tool arg was removed and replaced with arg. The tool data

was located in task: arg connected to mechanical unit arg.

Consequences

The tool definition for jogging may not be correct.

Probable causes

The tool data was removed. The module containing the original tool

definition may have been deleted.

Recommended actions

If you require the old definition, locate the program or module of the

original tool data and load it.

20128, Work object data has changed

Description

The active work object arg was removed and replaced with arg. The

work object data was located in task: arg connected to mechanical unit

arg.

Consequences

The work object definition for jogging may not be correct.

Probable causes

The work object data was removed. The module containing the

original tool definition may have been deleted.

Recommended actions

If you require the old definition, locate the program or module of the

original work object data and load it.

20130, Active Task Menu is restored

Description

During warm start, the "Active Task Menu" is restored in Auto mode.

Consequences

If one or several tasks were unchecked, they are now checked again

after the warm start in Auto mode.

Probable causes

A warm start has been performed

Recommended actions

Go to manual mode.

2. Uncheck the not wanted tasks

3. Go back to Auto mode.

20131, Automatic Mode Rejected

Description

One or more logical I/O signals were blocked and could not be

unblocked when automatic mode was requested.

Consequences

The system can not enter automatic mode.

Probable causes

Some blocked I/O signal could not be unblocked.

Recommended actions

1) Switch back to manual mode.

2a) Check Event Log for errors related to I/O.

2b) or set System Parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to No if the system should be in debug mode

when switching to auto.

3) Switch back to automatic mode and confirm.

6 Trouble shooting by Event log

1093HAC020738-001 Revision: K

20132, Blocked I/O signals

Description

One or more logical I/O signals were blocked during startup in

automatic mode.

Consequences

Blocked signals will be unblocked.

Probable causes

System was switched to automatic mode during warm start.

System parameter AllDebugSettings is set to Yes.

Recommended actions

None, system has automatically reset debug settings.

To keep debug settings in auto:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to NO.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20133, Debug Settings in Auto

Description

One or more logical I/O signals were blocked during startup in

automatic mode.

Consequences

Blocked I/O signals will stay blocked.

System will not be in full production mode in auto.

Recommended actions

For full production mode:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to YES.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20134, Call Chain

Description

The call chain has been altered to begin at a routine other than main.

Consequences

Program pointer will be reset to main routine.

Probable causes

System was switched to automatic mode during warm start.

System parameter AllDebugSettings is set to Yes.

Recommended actions

For debug mode in auto:

1) Switch back to manual mode

2) Set system parameter AllDebugSetting, reset to NO.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20135, Debug Settings in Auto

Description

The call chain has been altered to begin at a routine other than main.

Consequences

Program pointer will not be set to main.

System will not be in full production mode in auto.

Recommended actions

For full production mode:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to YES.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20136, Reduced Speed

Description

The system was running at reduced speed during startup in automatic

mode.

Consequences

Speed will be set to 100%.

Probable causes

System was switched to automatic mode during warm start.

Recommended actions

None, system has automatically reset debug settings.

To keep debug settings in auto:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to NO.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20137, Debug Settings in Auto

Description

The system was running at reduced speed during startup in automatic

mode.

Consequences

Speed will stay unchanged.

System will not be in full production mode in auto.

Recommended actions

For full production mode:

6 Trouble shooting by Event log

110 3HAC020738-001 Revision: K

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to YES.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20138, Disabled Tasks

Description

One or more of the NORMAL tasks were disabled during the startup

when in automatic mode.

Consequences

All disabled normal tasks will be enabled.

Probable causes

System was switched to automatic mode during warm start

System parameter AllDebugSettings is set to Yes.

Recommended actions

None, system has automatically reset debug settings.

To keep debug settings in auto:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to NO.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20139, Debug Settings in Auto

Description

One or more of the NORMAL tasks were disabled during startup in

automatic mode.

Consequences

Disabled tasks will stay disabled.

System will not be in full production mode in auto.

Recommended actions

For full production mode:

1) Switch back to manual mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to YES.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20140, Motors On rejected

Description

Motors On, via System IO, was rejected.

Recommended actions

20141, Motors Off rejected

Description

Motors Off, via System IO, was rejected.

Recommended actions

20142, Start rejected

Description

Start/restart of program, via System IO, was rejected.

The reason could be that the robot is outside of regain distance.

Recommended actions

20143, Start at main rejected

Description

Start of program at main, via System IO, was rejected.

Recommended actions

20144, Stop rejected

Description

Stop of program, via System IO, was rejected.

Recommended actions

20145, Stop cycle rejected

Description

Stop of program after cycle, via System IO, was rejected.

Recommended actions

20146, Manual interrupt rejected

Description

Manual interrupt of program, via System IO, was rejected.

Recommended actions

20147, Load and start rejected

Description

Load and start of program, via System IO, was rejected.

Recommended actions

The name of the program file to be loaded (including mass memory

unit) must be defined.

6 Trouble shooting by Event log

1113HAC020738-001 Revision: K

20148, Confirm rejected

Description

Emergency Stop reset confirm, via System IO, was rejected.

Recommended actions

20149, Error reset rejected

Description

Program execution error reset, via System IO, was rejected.

Recommended actions

20150, Load failure

Description

Load of program, via System IO, failed.

Consequences

Program will not be possible to start.

Probable causes

- The arguments for the System Input Load are wrong.

- The module was loaded, but the system failed to set the program

pointer.

- The program was executing.

Recommended actions

Check the following:

- correct arguments for System Input Load.

- defined and correct name of the program file to be loaded (including

mass memory unit).

- defined and correct name of the task that the program should be

loaded in.

- program stopped before activating System Input Load.

20153, Motors On and Start rejected

Description

Motors On and Start/Restart of program, via System IO, was rejected.

The reason could be that the robot is outside of regain distance.

Recommended actions

20154, Stop instruction rejected

Description

Stop of program after instruction, via System IO, was rejected.

Recommended actions

20156, Undefined Argument

Description

Interrupt routine name for System IO

Manual Interrupt is not defined.

Recommended actions

Configure the interrupt routine name.

20157, Undefined Argument

Description

Program name for System IO

LoadStart is not defined

Recommended actions

Configure the program name.

20158, No System Input signal

Description

A System Input has been configured to

an I/O-signal that doesn't exist.

System Input: arg

Signal Name: arg

Consequences

The system goes to status SYS FAIL.

Recommended actions

Add signal arg to eio.cfg or remove System Input arg from eio.cfg.

For every System Input a signal must be configured.

20159, No System Output signal

Description

A System Output has been configured to

an I/O-signal that doesn't exist.

System Output: arg

Signal Name: arg

Consequences

The system goes to status SYS FAIL.

Recommended actions

Add signal arg to eio.cfg or remove System Output arg from eio.cfg.

For every System Output a signal must be configured.

20161, Path not found

Description

The system module arg in task

arg has a corresponding

specification in the configuration

for "Task modules" that point out

a non existing file path

Recommended actions

View "Task modules" in the "System

Parameter" menu and change the path

6 Trouble shooting by Event log

112 3HAC020738-001 Revision: K

in the item for this system module

20162, Write error

Description

A write error occur when the system try

to save the system module arg

at arg

in task arg. Or the file

system was full

Recommended actions

View "Task modules" in the "System

Parameter" menu and change the path

in the item for this system module

20164, Reconfig failed

Description

There are still some unsaved system

modules.

Recommended actions

Read error descriptions in earlier

messages.

Try another system start

20165, Program Pointer lost.

Description

Restart is no longer possible from

current position.

Recommended actions

The program has to be

started from the beginning.

20166, Refuse to save module

Description

The module arg

is older than the source

at arg

in task arg.

Recommended actions

20167, Unsaved module

Description

The module arg

is changed but not saved

in task arg.

Recommended actions

20170, The system was stopped

Description

An error was detected, which stopped the system.

Consequences

The system goes to status SYS STOP and the robot is stopped along

the path. The full meaning of this status is described in the Trouble

Shooting Manual, IRC5.

Probable causes

A number of errors may cause this status transition.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) Fix the cause of the fault.

20171, The system was halted

Description

An error was detected, which halted the system.

Consequences

The system goes to status SYS HALT, the program and robot motion

is stopped and the motors are switched OFF. The full meaning of this

status is described in the Trouble Shooting Manual, IRC5.

Probable causes

A number of errors may cause this status transition.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) Fix the cause of the fault.

3) Restart the program.

20172, The system has failed

Description

An error was detected, which caused the system to fail.

Consequences

The system goes to status SYS FAIL. The program and robot motion

is stopped and the motors are switched OFF. The full meaning of this

status is described in the Trouble Shooting Manual, IRC5.

Probable causes

A number of errors may cause this status transition.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) Fix the cause of the fault.

3) Perform a system restart as detailed in the Operator's Manual, IRC5.

6 Trouble shooting by Event log

1133HAC020738-001 Revision: K

20176, Analog System Output Outside Limits

Description

The value arg for the System Output arg, signal arg, is outside its

limits (logical min: arg m/s, logical max: arg m/s).

Consequences

The new value is not set; the previous value of the analogue signal is

preserved.

Probable causes

The logical upper and/or lower limit for the signal may be defined

wrongly.

Recommended actions

Adjust the values of the logical upper and/or lower limit for the signal

and restart the controller.

20177, Short circuit in Motor phase circuit

Description

The motor or motor cable for joint arg in drive module arg, drive

unit number arg, is a short circuit.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty motor or motor cable. It may also be

caused by contamination in the contactors for the cables or a failure of

the motor windings.

Recommended actions

1) Make sure the motor cable is correctly connected to the drive

unit.

2) Check the cable and motor by measuring their resistance

respectively. Disconnect before measuring.

3) Replace any faulty component.

20178, Wrong task name configured

Description

Wrong task name arg configured for System Input arg.

Consequences

The digital input signal will not be connected to the specified event.

Recommended actions

Change the configuration and restart the system.

20179, Disk memory critically low

Description

The amount of free storage capacity on the disk has reached a critical

level. It is now less than 10 Mb. Execution of RAPID programs is

stopped.

Consequences

The disk memory is very close to being completely full. When this

happens the system will not be able to function.

Probable causes

Too much data on the disk

Recommended actions

1) Save the files on some other disk connected to the network.

2) Erase data from disk.

3) After removing files from the drive, restart the program.

20181, System Reset rejected.

Description

System Reset via System IO

not allowed.

Recommended actions

20184, Incorrect argument for System Inputs

Description

An undefined Start Mode has been

declared for System IO.

Recommended actions

20185, Incorrect Name

Description

An undefined Name has been declared

in current runchn_bool configuration.

Recommended actions

20187, Diagnostics record file created

Description

Due to any of a number of faults, a system diagnostics file was created

at arg. This file contains internal debug info and is intended for trouble

shooting and debugging purposes.

Consequences

The system will react to the error causing the stop as specified in its

own event log text.

Probable causes

A number of errors may cause this. Faults causing the system to go to

status SYS FAIL will generally also create a diagnostics record file.

Recommended actions

If required, the file may be appended to an error report sent to your

local ABB representative.

6 Trouble shooting by Event log

114 3HAC020738-001 Revision: K

20188, System data is not valid

Description

The contents of the file, arg, containing system persistent data is

invalid. Internal error code: arg. The system has been started using last

good system data saved earlier at arg.

Consequences

Any changes made in the system configuration or RAPID programs

since arg will NOT be available after restart. Any such changes will

have to be re-implemented.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) If acceptable, perform a B-restart to accept starting with the loaded

last good system data.

3) Reinstall the system.

4) Check the available disk storage capacity. If required, erase data to

increase free storage capacity.

20189, Robot data not valid

Description

Could not load the system independent

robot data from file arg.

The file exists but the content is not

valid. Internal code: arg

Recommended actions

Check other logged messages for needed

actions.

Make sure there is free memory

left on the device.

20192, Disk memory low

Description

The amount of free storage capacity on the disk is less than 25 MB.

When reaching 10 MB, execution of RAPID programs will be stopped.

Consequences

The disk memory is close to being completely full. When this happens

the system will not be able to function.

Probable causes

Too much data on the disk

Recommended actions

1) Save the files on some other disk connected to the network.

2) Erase data from disk.

20193, Robot data update warning

Description

Axis sync values and service information

data (SIS) was restored from backup.

The system independent robot data was

not saved during system shutdown. The

data was restored from latest backup.

Recommended actions

Make sure there is free memory left on

the device.

The backup battery may be drained. Check

the hardware log.

20194, System data backup could not be

created

Description

The system was restored successfully

but a backup of the current system data

could not be created.

Recommended actions

Make sure there is free memory left on

the device arg.

20195, System data from last shutdown is lost

Description

Normally, all system data is saved on shutdown. During the last

shutdown saving data has failed. The system has been started using last

good system data saved earlier at arg.

Consequences

Any changes made in system configuration or RAPID programs since

arg will NOT be available after restart. Any such changes will have to

be re-implemented.

Probable causes

The backup energy bank may have been drained at the time of the shut

down. The storage disk may be full.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) If acceptable, perform a B-restart to accept starting with the loaded

system data.

3) Reinstall the system.

4) Check the available disk storage capacity. If required, erase data to

increase free storage capacity.

20196, Module saved

Description

During reconfiguration of the system a changed and not saved module

was found.

The module was saved to

arg.

6 Trouble shooting by Event log

1153HAC020738-001 Revision: K

Recommended actions

20197, System data from last shutdown can not

be found

Description

Normally, all system data is saved on shutdown. The file containing

system persistent data cannot be found. The system has been started

using last good system data saved earlier at arg.

Consequences

Any changes made in system configuration or RAPID programs since

arg will NOT be available after restart. Any such changes will have to

be re-implemented.

Probable causes

The file containing the saved system data may have been manually

moved or deleted.

Recommended actions

1) Check the location and availability of the saved system data file.

2) If acceptable, perform a B-restart to accept starting with the loaded

last good system data.

3) Reinstall the system.

20199, System SoftStop Rejected

Description

The System Input SoftStop is not allowed

Recommended actions

20200, Limit Switch opened by SC

Description

The limit switch on the robot has been opened by the Safety Controller

(SC)

Consequences

The system goes to the Guard stop state.

Probable causes

The Safety Controller has opened the limit switch because of a safety

violation.

Recommended actions

1) Check for reason found in other event logs.

2)Check the cable between the contactor board and the Safety

Controller

3)Do a Confirm Stop by pressing the Motors on push button or by

activating the appropriated system input.

20201, Limit Switch open

Description

The limit switch on the robot has opened.

Consequences

The system goes to the Motors OFF status.

Probable causes

The robot has been run outside the working range defined by the limit

switches fitted to the robot.

Recommended actions

1) Press an eventual existing external "Override Limit" button and

manually

jog the robot back into the working area.

2) Resume operation.

20202, Emergency Stop open

Description

The emergency stop circuit has previously been broken, and while

broken, an attempt was made to operate the robot.

Consequences

The system remains in the Emergency Stop status.

Probable causes

An attempt has been made to manoeuvre a control, e.g. the enabling

device.

Recommended actions

1) To resume operation, first reset the emergency stop button triggering

the stop.

2) Then switch the system back to state Motors ON by pressing the

Motors ON button on the Control Module.

20203, Enabling Device open

Description

Only one of the two Enabling Device chains was opened.

Consequences

The system goes to status SYS HALT.

Probable causes

The teach pendant Enabling Device may be faulty or incorrectly

connected. The teach pendant and its Enabling Device is described in

the Trouble Shooting Manual, IRC5.

Recommended actions

1) Check the teach pendant cable and its connection.

2) If required, replace the faulty teach pendant or its cable.

20204, Operation Key imbalance

Description

The system has detected an imbalance in the two parallel MANUAL /

AUTO Operation Key circuits.

Probable causes

The contact pair in any of the cables connected to the Operation Key

circuit is not working correctly.

6 Trouble shooting by Event log

116 3HAC020738-001 Revision: K

Recommended actions

1) Isolate the cable connection causing the conflict

2) Connect the cable in a correct way

20205, Auto Stop open

Description

The Automatic Mode Safeguarded Stop circuit has been broken.

Consequences

The system goes to the Auto Stop status.

Probable causes

One or more of the switch connected in series with the Automatic

Mode Safeguarded Stop circuit have been opened, which may be

causes by a large number of faults. This is only possible while in the

Auto operational mode. The Automatic Mode Safeguarded Stop

circuit is described in the Trouble Shooting Manual.

Recommended actions

1) Locate the switch, reset it and restart the system.

2) Check cables and connections.

20206, General Stop open

Description

The General Mode Safeguarded Stop circuit has been broken.

Consequences

The system goes to the General Stop status.

Probable causes

One or more of the switch connected in series with the General Mode

Safeguarded Stop circuit have been opened, which may be causes by a

large number of faults. This is possible in any operational mode. The

General Mode Safeguarded Stop circuit is described in the Trouble

Shooting Manual.

Recommended actions

1) Locate the switch, reset it and restart the system.

2) Check cables and connections.

20208, Chain switches open

Description

A safety chain, other than Auto Stop and General Stop, has been

broken.

Consequences

The system goes to the Guard Stop status.

Probable causes

One or more of the switch connected in series with the RUN Chain Top

circuit have been opened, which may be causes by a large number of

faults. The RUN Chain Top is described in the Trouble Shooting

Manual and Circuit Diagram.

Recommended actions

1) Check other error messages for primary fault reason.

2) Locate the switch, reset it and restart the system.

3) Check cables and connections.

20209, External Contactor open

Description

An external contactor has been opened.

Consequences

The system goes from the Motors OFF status to SYS HALT when

attempting to start.

Probable causes

The RUN chain of external equipment has been broken, which may be

caused by the external contactor auxiliary contacts or, if used, any

PLC, controlling it. The external contactor supplies power to a piece of

external equipment, equivalently to how the RUN contactor supplies a

robot. This fault may occur when attempting to go to the Motors ON

mode only. The RUN chain is described in the Trouble Shooting

Manual and Circuit Diagram.

Recommended actions

1) Locate the switch, reset it and restart the system.

2) Check cables and connections.

3) Check the external contactor auxiliary contacts.

4) If used, check any PLC equipment controlling the external

contactor.

20211, Two channel fault, ENABLE chain

Description

A switch in only one of the two ENABLE chains was briefly affected,

opening the chain and then reclosing it, without the other chain being

affected.

Consequences

The system goes to status SYS HALT.

Probable causes

There may be a loose signal connection on either the axis computer or

the Safety System. The ENABLE chain is described in the Trouble

Shooting Manual and Circuit Diagram.

Recommended actions

1) Check cables and connections.

2) Make sure all signal connectors on the axis computer board and the

Safety System are securely connected.

3) If there is no loose connection, replace the faulty board.

20212, Two channel fault, RUN CHAIN

Description

Only one of the two RUN chains was closed.

6 Trouble shooting by Event log

1173HAC020738-001 Revision: K

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the RUN chain may be faulty or not

correctly connected, causing only one channel to close. The RUN

chain is described in the Trouble Shooting Manual, IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) To assist in returning the chains to a defined status, first pressing,

then resetting the Emergency Stop

5) If there is no loose connection, replace the faulty switch.

20213, Two channel fault

Description

A brief status change in any of the RUN or ENABLE chains has been

detected.

Consequences

The system goes to status SYS HALT.

Probable causes

This may be caused by a number of faults. The ENABLE and RUN

chains are described in the Trouble Shooting Manual, IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine the cause of the fault.

3) To assist in returning the chains to a defined status, first pressing,

then resetting the Emergency Stop may work.

20214, Limit Switch open, DRV1

Description

The limit switch on the robot has opened.

Consequences

The system goes to the Motors OFF status.

Probable causes

The robot has been run outside the working range defined by the limit

switches fitted to the robot.

Recommended actions

1) Press an eventual existing external "Override Limit" button and

manually

jog the robot back into the working area.

2) Resume operation.

20215, Superior Stop open

Description

The Superior Mode Safeguarded Stop circuit has been opened.

Consequences

The system goes to the Superior Stop status.

Probable causes

One or more of the switch connected in series with the Superior Mode

Safeguarded Stop circuit have been opened, which may be causes by a

large number of faults. This is possible in any operational mode. The

Superior Mode Safeguarded Stop circuit is described in the Trouble

Shooting Manual.

Recommended actions

1) Locate the switch, reset it and restart the system.

20216, Enabling device active in Auto mode

Description

The system has detected that the Enabling device has been pressed for

more than 3 seconds in Automatic operating mode.

Consequences

The system goes to status Guard Stop.

Recommended actions

1. Release the Enabling device

2. Switch to Manual mode

20217, Limit Switch open, DRV2

Description

The limit switch on the robot has opened.

Consequences

The system goes to the Motors OFF status.

Probable causes

The robot has been run outside the working range defined by the limit

switches fitted to the robot.

Recommended actions

1) Press an eventual existing external "Override Limit" button and

manually

jog the robot back into the working area.

2) Resume operation.

20218, Limit Switch open, DRV3

Description

The limit switch on the robot has opened.

Consequences

The system goes to the Motors OFF status.

6 Trouble shooting by Event log

118 3HAC020738-001 Revision: K

Probable causes

The robot has been run outside the working range defined by the limit

switches fitted to the robot.

Recommended actions

1) Press an eventual existing external "Override Limit" button and

manually

jog the robot back into the working area.

2) Resume operation.

20219, Limit Switch open, DRV4

Description

The limit switch on the robot has opened.

Consequences

The system goes to the Motors OFF status.

Probable causes

The robot has been run outside the working range defined by the limit

switches fitted to the robot.

Recommended actions

1) Press an eventual existing external "Override Limit" button and

manually

jog the robot back into the working area.

2) Resume operation.

20220, Superior stop conflict

Description

Only one of the two Superior Mode Safeguarded Stop chains was

opened.

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the Superior Stop chain may be

faulty or not correctly connected, causing only one channel to close.

The Superior Stop chain is described in the Trouble Shooting Manual,

IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) If there is no loose connection, replace the faulty switch.

20221, Run chain conflict

Description

Status conflict

for Run chain.

Recommended actions

Please check the Run chain cables.

20222, Limit switch conflict

Description

Only one of the two Limit switch chains was opened.

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the Limit switch chain may be faulty

or not correctly connected, causing only one channel to close. The

Limit switch chain is described in the Trouble Shooting Manual, IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) If there is no loose connection, replace the faulty switch.

20223, Emergency Stop conflict

Description

Only one of the two Emergency Stop chains was opened.

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the Emergency Stop chain may be

faulty or not correctly connected, causing only one channel to close.

The Emergency Stop chain is described in the Trouble Shooting

Manual, IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) If there is no loose connection, replace the faulty switch.

20224, Enabling Device conflict

Description

Only one of the two Enabling Device chains was opened.

Consequences

The system goes to status SYS HALT.

Probable causes

The teach pendant Enabling Device may be faulty or incorrectly

connected. The teach pendant and its Enabling Device is described in

the Trouble Shooting Manual, IRC5.

6 Trouble shooting by Event log

1193HAC020738-001 Revision: K

Recommended actions

1) Check the teach pendant cable and its connection.

2) If required, replace the faulty teach pendant or its cable.

20225, Auto Stop conflict

Description

Only one of the two Automatic Mode Safeguarded Stop chains was

opened.

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the Auto Stop chain may be faulty or

not correctly connected, causing only one channel to close. The Auto

Stop chain is described in the Trouble Shooting Manual, IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) If there is no loose connection, replace the faulty switch.

20226, General Stop conflict

Description

Only one of the two General Mode Safeguarded Stop chains was

opened.

Consequences

The system goes to status SYS HALT.

Probable causes

Any of the switches connected to the General Stop chain may be faulty

or not correctly connected, causing only one channel to close. The

General Stop chain is described in the Trouble Shooting Manual,

IRC5.

Recommended actions

1) Check cables and connections.

2) Check other event log messages occurring at the same time to

determine which switch caused the fault.

3) Make sure all switches are working correctly.

4) If there is no loose connection, replace the faulty switch.

20227, Motor Contactor conflict, DRV1

Description

Only one of the two Motor Contactors for drive system 1 has

acknowledged the activation order.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the motor contactor auxiliary contacts or the supply to

these.

Recommended actions

1) Check cables and connections.

2) Check the function of the auxiliary contacts.

20231, Delayed Emergency Stop due to circuit

imbalance

Description

The system has detected an imbalance in the two parallel Emergency

Stop circuits.

Consequences

The system goes to status Emergency Stop after approximately 1 sec.

Probable causes

The contact pair in any of the Emergency Stop buttons is not working

correctly.

Recommended actions

1. Isolate the Emergency Stop button causing the conflict.

2. Check the contact pair.

3. Make sure all connections are tight.

4. Replace the button if required.

20232, Delayed Auto Stop due to circuit

imbalance

Description

The system has detected an imbalance in the two parallel Auto Stop

circuits.

Consequences

The system goes to status Guard Stop after approximately 1 sec.

Probable causes

The contact pair in any of the safety devices connected to the Auto

Stop circuit is not working correctly.

Recommended actions

1. Isolate the safety device causing the conflict.

2. Make sure the device used is a two-channel device.

3. Check the contact pair.

4. Make sure all connections are tight.

5. Replace the device if required.

20233, Delayed General Stop due to circuit

imbalance

Description

The system has detected an imbalance in the two parallel General Stop

circuits.

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120 3HAC020738-001 Revision: K

Consequences

The system goes to status Guard Stop after approximately 1 sec.

Probable causes

The contact pair in any of the safety devices connected to the General

Stop circuit is not working correctly.

Recommended actions

1. Isolate the safety device causing the conflict.

2. Make sure the device used is a two-channel device.

3. Check the contact pair.

4. Make sure all connections are tight.

5. Replace the device if required.

20234, Immediate Emergency Stop

Description

The Emergency Stop circuits have been broken.

Consequences

The system goes directly to status Emergency Stop.

Probable causes

One or more of the red emergency stop buttons have been activated.

Recommended actions

1) Isolate the Emergency Stop button that was opened.

2) Reset the button.

20235, Immediate Auto Stop

Description

The Auto Stop circuits have been broken.

Consequences

The system goes directly to status Guard Stop.

Probable causes

One or more of the safety device switches in the Auto Stop circuit have

been opened

Recommended actions

1) Isolate the safety device that was opened

2) Reset the device switch.

20236, Immediate General Stop

Description

The General Stop circuits have been broken.

Consequences

The system goes directly to status Guard Stop.

Probable causes

One or more of the safety device switches in the General Stop circuit

have been opened

Recommended actions

1) Isolate the safety device that was opened

2) Reset the device switch.

20237, Immediate Superior Stop

Description

The Superior Stop circuits have been broken.

Consequences

The system goes directly to status Guard Stop.

Probable causes

One or more of the safety device switches in the Superior Stop circuit

have been opened

Recommended actions

1) Isolate the safety device that was opened

2) Reset the device switch.

20238, Delayed Superior Stop due to circuit

imbalance

Description

The system has detected an imbalance in the two parallel Superior Stop

circuits.

Consequences

The system goes to status Guard Stop after approximately 1 sec.

Probable causes

The contact pair in any of the safety devices connected to the Superior

Stop circuit is not working correctly.

Recommended actions

1. Isolate the safety device causing the conflict.

2. Make sure the device used is a two-channel device.

3. Check the contact pair.

4. Make sure all connections are tight.

5. Replace the device if required.

20240, Conflict between ENABLE signals

Description

A switch in only one of the two ENABLE chains was affected, without

the other chain being affected.

Consequences

The system goes to status SYS HALT.

Probable causes

There may be a loose signal connection on the Safety System. The

ENABLE chain is described in the Trouble Shooting Manual and

Circuit Diagram.

Recommended actions

1) Check cables and connections.

6 Trouble shooting by Event log

1213HAC020738-001 Revision: K

2) Make sure all signal connectors on the Safety System are securely

connected.

3) If there is no loose connection, replace the faulty board.

20241, Operating mode conflict

Description

There is a conflict between the operating mode selected on the

operating mode selector on the controller cabinet front and the actual

operating mode as detected by the axis computer.

Consequences

The system goes to status SYS HALT.

Probable causes

There may be a hardware fault in the operating mode selector or its

cabling to the Safety System.

Recommended actions

Check the operating mode selector and its cabling to the Safety

System.

20245, Run Control status conflict, DRV2

Description

Status conflict between Run Control and Motor Contactors for drive

system 2.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the Motor Contactors or the supply to these.

Recommended actions

1) Check cables and connections.

2) Do a Warm start.

20246, Run Control status conflict, DRV3

Description

Status conflict between Run Control and Motor Contactors for drive

system 3.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the Motor Contactors or the supply to these.

Recommended actions

1) Check cables and connections.

2) Do a Warm start.

20247, Run Control status conflict, DRV4

Description

Status conflict between Run Control and Motor Contactors for drive

system 4.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the Motor Contactors or the supply to these.

Recommended actions

1) Check cables and connections.

2) Do a Warm start.

20248, Motor Contactor conflict, DRV2

Description

Only one of the two Motor Contactors for drive system 2 has

acknowledged the activation order.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the motor contactor auxiliary contacts or the supply to

these.

Recommended actions

1) Check cables and connections.

2) Check the function of the auxiliary contacts.

20249, Motor Contactor conflict, DRV3

Description

Only one of the two Motor Contactors for drive system 3 has

acknowledged the activation order.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the motor contactor auxiliary contacts or the supply to

these.

Recommended actions

1) Check cables and connections.

2) Check the function of the auxiliary contacts.

20250, Motor Contactor conflict, DRV4

Description

Only one of the two Motor Contactors for drive system 4 has

acknowledged the activation order.

Consequences

The system goes to status SYS HALT.

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122 3HAC020738-001 Revision: K

Probable causes

A failure of the motor contactor auxiliary contacts or the supply to

these.

Recommended actions

1) Check cables and connections.

2) Check the function of the auxiliary contacts.

20252, Motor temperature high, DRV1

Description

Over temperature in Manipulator Motor. Make sure to let the Motor

cool down before ordering Motors On again.

Recommended actions

1) Wait until the overheated Motor has cooled down before ordering

Motors On again.

2) If optional air filter is used, check if it is clogged and has to be

exchanged

20253, External device temperature high, DRV1

Description

Over temperature in External Device. Make sure to let the External

Device cool down before ordering Motors On again.

Recommended actions

Wait until the overheated Motor has cooled down before ordering

Motors On again.

20254, Motor temperature high, DRV2

Description

Over temperature in Manipulator Motor. Make sure to let the Motor

cool down before ordering Motors On again.

Recommended actions

1) Wait until the overheated Motor has cooled down before ordering

Motors On again.

2) If optional air filter is used, check if it is clogged and has to be

exchanged

20255, External device temperature high, DRV2

Description

Over temperature in External Device. Make sure to let the External

Device cool down before ordering Motors On again.

Recommended actions

Wait until the overheated Motor has cooled down before ordering

Motors On again.

20256, Motor temperature high, DRV3

Description

Over temperature in Manipulator Motor. Make sure to let the Motor

cool down before ordering Motors On again.

Recommended actions

1) Wait until the overheated Motor has cooled down before ordering

Motors On again.

2) If optional air filter is used, check if it is clogged and has to be

exchanged

20257, External device temperature high, DRV3

Description

Over temperature in External Device. Make sure to let the External

Device cool down before ordering Motors On again.

Recommended actions

Wait until the overheated Motor has cooled down before ordering

Motors On again.

20258, Motor temperature high, DRV4

Description

Over temperature in Manipulator Motor. Make sure to let the Motor

cool down before ordering Motors On again.

Recommended actions

1) Wait until the overheated Motor has cooled down before ordering

Motors On again.

2) If optional air filter is used, check if it is clogged and has to be

exchanged

20259, External device temperature high, DRV4

Description

Over temperature in External Device. Make sure to let the External

Device cool down before ordering Motors On again.

Recommended actions

Wait until the overheated Motor has cooled down before ordering

Motors On again.

20260, Run Control status conflict, DRV1

Description

Status conflict between Run Control and Motor Contactors for drive

system 1.

Consequences

The system goes to status SYS HALT.

Probable causes

A failure of the Motor Contactors or the supply to these.

Recommended actions

1) Check cables and connections.

2) Do a Warm start.

6 Trouble shooting by Event log

1233HAC020738-001 Revision: K

20262, SC arg Not found

Description

The system has an option for arg Safety Controller (SC) on drive

module arg, but no Safety Controller was found.

Recommended actions

- Check Safety Controller cabling.

- Check Safety Controller health.

Warm start controller, after performing recommended actions.

20263, SC arg Communication Failure

Description

Communication error with Safety Controller (SC) arg

Recommended actions

- Check Safety Controller cabling.

- Check Safety Controller health.

Warm start controller, after performing recommended actions.

20264, SC arg Option Not Present

Description

Found arg Safety Controller (SC) on drive module arg.This system

does not have the option for a Safety Controller on that drive module.

Recommended actions

- Check drive module software options.

- Install a system with Safety Controller option.

20265, SC Soft Stop Error

Description

Safety Controller (SC) Soft Stop has not opened the Motor Contactors

within the calculated time

Recommended actions

Check Lim-switch connection if SafeMove is present

20266, SC arg PIN Code Request

Description

Safety Controller (SC) arg has a new Safety Configuration and

needs a new PIN code to be activated.

Recommended actions

1. Log in as a user with Safety Configuration grants.

2. Enter new PIN-Code for the Safety Controller in the Control Panel.

20267, SC arg Initialization Failed

Description

Safety Controller (SC) arg failed to initialize properly, or failed to

respond during start up.

Recommended actions

1. Check previous error logs for possible causes.

2. Restart the system.

20268, SC arg Wrong Type

Description

Found arg Safety Controller (SC) on drive module arg, expected

arg.

Recommended actions

- Check drive module software options.

- Install a system with correct Safety Controller option.

- Install a Safety Controller of the correct type.

20270, Access error

Description

Panel Module access error.

Recommended actions

Examine your I/O configuration files.

20280, Symbol conflict

Description

The signal arg defined in the IO

configuration conflict with another

program symbol with the same name.

Due on that fact the signal will not be

mapped to a program variable.

Recommended actions

Rename the signal in

the IO configuration.

20281, IO configuration error

Description

argarg with signal

name arg has wrong signal

type. Found arg expected arg.

Recommended actions

Change your configuration

and restart the system.

20282, Resource and index exist

Description

Resource arg

Index arg.

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124 3HAC020738-001 Revision: K

Recommended actions

20283, Text database is full.

Description

Resource arg

Index arg

Recommended actions

20284, Wrong Signal Type For System Input

Description

The System Input arg is configured with an I/O-signal of

wrong type.

The I/O-signal arg is of type arg and this System Input

requires an I/O-signal of type arg.

Recommended actions

Change the configuration for the specified System Input.

20285, Wrong Signal Type For System Output

Description

The System Output arg is configured with an I/O-signal of

wrong type.

The I/O-signal arg is of type arg and this System Output

requires an I/O-signal of type arg.

Recommended actions

Change the configuration for the specified System Output.

20286, Not Unique I/O-Signal For System

Output

Description

Each System Output must have a unique I/O-signal configured.

It is not possible to configure same I/O-signal to several System

Outputs.

System Output: arg

Signal Name: arg

Recommended actions

20287, Not Unique I/O-signal For System Input

Description

Each System Input must have a unique I/O-signal configured.

It is not possible to configure same I/O-signal to several System Inputs.

System Input: arg

Signal Name: arg

20288, Unknown System Output Type

Description

The configured System Output type is unknown by the system.

Unknown System Output: arg

Recommended actions

Verify that the System Output name is correctly spelled.

20289, Unknown System Input Type

Description

The configured System Input type is unknown by the system.

Unknown System Input: arg

Recommended actions

Verify that the System Input name is correctly spelled.

20290, Unknown Mechanical Unit Name For

System Output

Description

A System Output is configured with a mechanical unit name which is

unknown by the system.

System Output: arg

Mechanical unit name: arg

Recommended actions

The specified mechanical unit must be configured in order to be used

by System Outputs

Verify that the mechanical unit name is correctly spelled.

20291, Unknown System Input Restriction Type

Description

The configured System Input Restriction Type is unknown by the

system.

Unknown System Input Restriction: arg

Recommended actions

Verify that the System Input Restriction name is correctly spelled.

20292, Unknown System Input Restriction

Description

The configured System Input Restriction is unknown by the system.

System Input Restriction Type: arg

Unknown System Input Restriction: arg

Recommended actions

Verify that the System Input Restriction name is correctly spelled.

6 Trouble shooting by Event log

1253HAC020738-001 Revision: K

20293, System Input is Restricted

Description

The system input arg is restricted by the system input arg set by I/O

signal arg.

Consequences

The action called for by system input arg will not take place, and the

operation will NOT be affected.

Probable causes

System input arg may be set by external equipment, such as PLCs, etc,

for a number of reasons.

Recommended actions

1) Investigate why the system input was set, and, if required, correct

the reason.

20294, Action arg can not be fulfilled.

Description

The requested action cannot be fulfilled since the IO unit is not

responding.

Consequences

It is not possible to decide if there are any restrictions set to the action.

Probable causes

The requested action will not be fulfilled until the I/O unit is enabled

again.

Recommended actions

Never disable a unit with System Inputs/Outputs.

20295, Signal cannot be used as System

Output.

Description

The System Output arg is configured with an I/O-signal with wrong

category. The I/O-signal arg has category Safety and can not be used

as System Output.

Recommended actions

Choose another signal or set to another category.

20296, Wrong task name configured

Description

Wrong task name arg configured for System Output arg.

Consequences

The digital output signal will not be connected to the specified event.

Recommended actions

Change the configuration and restart the system.

20307, Motor cooling fan malfunction, axis 1

Description

The axis 1 motor cooling fan on the robot connected to Drive Module

arg does not work correctly.

Consequences

The full meaning of this status is described in the Trouble Shooting

Manual, IRC5.

Probable causes

-The fan power cabling may be damaged or not connected correctly to

motor or contactor unit.

-The fan or the Drive Module Power Supply may be faulty.

Recommended actions

1) Make sure the fan cable is correctly connected

2) Make sure the fan is free to rotate and that the air flow is not

obstructed.

3) Make sure the Drive Module Power Supply output and input

voltages are within specified limits as detailed in the Trouble shooting

manual. Replace any faulty unit.

20308, Motor cooling fan malfunction, axis 2

Description

The axis 2 motor cooling fan on the robot connected to Drive Module

arg does not work correctly.

Consequences

The full meaning of this status is described in the Trouble Shooting

Manual, IRC5.

Probable causes

-The fan power cabling may be damaged or not connected correctly to

motor or contactor unit.

-The fan or the Drive Module Power Supply may be faulty.

Recommended actions

1) Make sure the fan cable is correctly connected

2) Make sure the fan is free to rotate and that the air flow is not

obstructed.

3) Make sure the Drive Module Power Supply output and input

voltages are within specified limits as detailed in the Trouble shooting

manual. Replace any faulty unit.

20309, Motor cooling fan malfunction, axis 3

Description

The axis 3 motor cooling fan on the robot connected to Drive Module

arg does not work correctly.

Consequences

The full meaning of this status is described in the Trouble Shooting

Manual, IRC5.

6 Trouble shooting by Event log

126 3HAC020738-001 Revision: K

Probable causes

-The fan power cabling may be damaged or not connected correctly to

motor or contactor unit.

-The fan or the Drive Module Power Supply may be faulty.

Recommended actions

1) Make sure the fan cable is correctly connected

2) Make sure the fan is free to rotate and that the air flow is not

obstructed.

3) Make sure the Drive Module Power Supply output and input

voltages are within specified limits as detailed in the Trouble shooting

manual. Replace any faulty unit.

20310, SC arg Communication Failed

Description

An error occurred while trying to communicate with Safety

Controller (SC) arg

Recommended actions

- Check Safety Controller cabling.

- Check Safety Controller health.

Warm start controller, after performing recommended actions.

20311, Enable 1 open

Description

The ENABLE 1 circuit monitoring the Safety System has been

opened.

Consequences

The system goes to status SYS HALT.

Probable causes

There may be an internal fault in the Safety System or the internal

supervision has detected a fault.

Recommended actions

1) Check all connections to the Safety System.

2) If faulty, replace the faulty board.

20312, Enable 2 open

Description

The ENABLE 2 circuit monitoring the Axis Computer has been

opened.

Consequences

The system goes to status SYS HALT.

Probable causes

There may be a connection problem between Main Computer and Axis

Computer.

Recommended actions

1) Check all connections to the axis computer.

2) Check cables conntected to the Safety System.

20313, Enable1 supervision fault

Description

The ENABLE1 circuit has been broken. This circuit monitors the

function of the Safety System and the main computer.

Consequences

The system goes to status SYS HALT.

Probable causes

A fault, probably a software fault, has been detected by any of the units

supervised by the ENABLE1 circuit.

Recommended actions

1) Attempt restarting by pressing the Motors ON button. If restarting

is IMPOSSIBLE it indicates a hardware fault in Safety System, axis

computer. If restarting is POSSIBLE, it indicates a software fault. In

such case, contact your local ABB representative.

2) Determine which unit is faulty by checking its indication LEDs. The

LEDs are described in the Trouble Shooting Manual. Replace the

faulty unit.

20314, Enable2 supervision fault

Description

The ENABLE2 circuit to drive module 1 has been broken. This circuit

monitors e.g. the function of the Safety System and the axis computer.

Consequences

The system goes to status SYS HALT.

Probable causes

A fault, probably a software fault, has been detected by any of the units

supervised by the ENABLE2 circuit.

Recommended actions

1) Attempt restarting by pressing the Motors ON button. If restarting

is IMPOSSIBLE it indicates a hardware fault in Safety System, axis

computer. If restarting is POSSIBLE, it indicates a software fault. In

such case, contact your local ABB representative.

2) Determine which unit is faulty by checking its indication LEDs. The

LEDs are described in the Trouble Shooting Manual. Replace the

faulty unit.

20315, Enable2 Supervision fault

Description

The ENABLE2 circuit to drive module 2 has been broken. This circuit

monitors e.g. the function of the Safety System and the axis computer.

Consequences

The system goes to status SYS HALT.

Probable causes

A fault, probably a software fault, has been detected by any of the units

supervised by the ENABLE2 circuit.

6 Trouble shooting by Event log

1273HAC020738-001 Revision: K

Recommended actions

1) Attempt restarting by pressing the Motors ON button. If restarting

is IMPOSSIBLE it indicates a hardware fault in safety board, axis

computer. If restarting is POSSIBLE, it indicates a software fault. In

such case, contact your local ABB representative.

2) Determine which unit is faulty by checking its indication LEDs. The

LEDs are described in the Trouble Shooting Manual. Replace the

faulty unit.

20316, Enable2 Supervision fault

Description

The ENABLE2 circuit to drive module 3 has been broken. This circuit

monitors e.g. the function of the Safety System and the axis computer.

Consequences

The system goes to status SYS HALT.

Probable causes

A fault, probably a software fault, has been detected by any of the units

supervised by the ENABLE2 circuit.

Recommended actions

1) Attempt restarting by pressing the Motors ON button. If restarting

is IMPOSSIBLE it indicates a hardware fault in Safety System, axis

computer. If restarting is POSSIBLE, it indicates a software fault. In

such case, contact your local ABB representative.

2) Determine which unit is faulty by checking its indication LEDs. The

LEDs are described in the Trouble Shooting Manual. Replace the

faulty unit.

20317, Enable2 Supervision fault

Description

The ENABLE2 circuit to drive module 4 has been broken. This circuit

monitors e.g. the function of the Safety System and the axis computer.

Consequences

The system goes to status SYS HALT.

Probable causes

A fault, probably a software fault, has been detected by any of the units

supervised by the ENABLE2 circuit.

Recommended actions

1) Attempt restarting by pressing the Motors ON button. If restarting

is IMPOSSIBLE it indicates a hardware fault in Safety System, Axis

computer. If restarting is POSSIBLE, it indicates a software fault. In

such case, contact your local ABB representative.

2) Determine which unit is faulty by checking its indication LEDs. The

LEDs are described in the Trouble Shooting Manual. Replace the

faulty unit.

20350, Not a valid task name

Description

The task name arg cannot be used as a name of a task. It is either

already used as an installed symbol, a reserved word in the system or

too long (max. 16 characters).

Consequences

The task will not be installed in the system.

Recommended actions

Change the configuration of the task name and restart the controller.

20351, Max number of tasks exceeded

Description

The maximum number of tasks, arg, of the configuration type arg is

exceeded.

Consequences

All configured tasks will not be installed.

Recommended actions

Change the configuration and restart the system.

20352, Not a valid motion planner name

Description

The motion planner name for mechanical unit group arg in arg is not

correct.

The reason can be one of the following:

1. empty name

2. not present in the motion configuration

3. already in use by another mechanical unit group

Consequences

The system will not be able to use.

Recommended actions

Change the configuration and restart the controller.

20353, Mechanical unit not found

Description

The mechanical unit arg in arg can not be found in the list of

configured mechanical units.

Consequences

It is not possible to execute any RAPID instructions that use the

configured mechanical units.

Probable causes

The unit is probably not present in the motion configuration.

Recommended actions

Change the configuration and restart the controller.

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128 3HAC020738-001 Revision: K

20354, The argument is undefined

Description

The configured argument arg for task arg is not a valid type.

Consequences

The behaviour of the task will be undefined.

Recommended actions

Change the configuration and restart the controller.

20355, Mechanical unit group name not correct

Description

The configured name of arg in task arg is not correct.

The reason could be:

1. The argument is not used in the configuration

2. The configured name is not a member of the mechanical unit group

3. The configured name is already used by another task.

Consequences

The task will not be installed or it will not be possible to execute

RAPID motion instructions.

Recommended actions

Change the configuration and restart the controller.

20356, Maximum number of motion tasks

exceeded

Description

Only arg tasks are allowed to control mechanical units i.e. execute

RAPID move instructions.

Recommended actions

Change the configuration and restart the controller.

20357, No configured motion task

Description

No task is configured to control mechanical units i.e. execute RAPID

move instructions.

Consequences

It is not possible to execute any RAPID move instructions.

Recommended actions

Change the configuration to include a task controlling mechanical

units.

Restart the controller.

20358, No members of arg configured

Description

The configuration type is required in a multi robot system.

Consequences

It is not possible to execute any RAPID move instructions.

Recommended actions

Change the configuration and restart the controller.

20359, Cfg type arg is configured

Description

The type was found but not expected in a system with current options.

Recommended actions

Check if the right configuration file is loaded or remove all instances

of the type.

Restart the controller.

20360, Unknown event in cfg type arg

Description

The event arg is not a system event.

Recommended actions

Change the configuration and restart the system.

20361, Only shared modules in the shared task

Description

The module arg is not configured shared and cannot be loaded into the

shared task.

Recommended actions

Change the configuration and restart the system.

20362, Not defined task name

Description

The task arg in cfg type arg is not configured in the system.

Recommended actions

Change the configuration and restart the system.

20363, Module not a system module

Description

The module arg loaded from the file arg is not a system module.

Recommended actions

Change the file suffix or add a module attribute to the module.

Load the module again or restart the system.

20364, Max number of mechanical unit groups

exceeded

Description

The maximum number of mechanical unit groups, arg, of the

configuration type arg is exceeded.

6 Trouble shooting by Event log

1293HAC020738-001 Revision: K

Consequences

Exceeded instances are ignored.

Recommended actions

Change the configuration and restart the controller.

20365, Update of configuration is done

Description

All tasks are reset to its main routine due to configuration changes.

Recommended actions

20366, Type error in task configuration

Description

The task arg is configured with wrong type. Task configured to control

mechanical units i.e. execute RAPID move instructions must be of

type arg.

Consequences

The task will not be installed.

Recommended actions

Change the configuration and restart the controller.

20367, No configured mechanical units

Description

The instance arg of configuration type arg has no mechanical unit

argument.

Consequences

It will not be possible to perform any actions against the motion

system, i.e. execute RAPID move instructions.

Recommended actions

Change the configuration and restart the controller.

20368, Not connected mechanical unit group

Description

There is no RAPID motion task connected with the mechanical unit

group arg.

Consequences

It will not be possible to use the mechanical units that belong to this

group.

Probable causes

The cause of this error can be a missing RAPID task instance in the

controller domain of the configuration or a task that has not been

configured as a motion task.

Recommended actions

1. Add a motion task instance that is connected to the mechanical unit

group.

2. Change an existing non-motion task to a motion task.

3. Remove the mechanical unit group.

4. Check for misspelled names.

20369, Confusing configuration of system

parameters.

Description

There is a mixture of old and new structure of type System Misc.

Consequences

It is possible that not the correct parameters are configured.

Probable causes

Configuration of old and new structure has been loaded into the

system.

Recommended actions

1. Check that the correct parameters are configured.

2. Update the parameters in System Misc with correct values.

3. Save the controller domain and replace the old config file.

20370, Failed to read configuration data for

regain distance

Description

The system failed to read the configuration data for the type <arg>.

The regain distance is the limit when the system will warn before a

start with regain movement.

Consequences

Default value for the regain distance will be used.

Probable causes

-The sys.cfg file loaded into the system does not contain any regain

distance information.

-No sys.cfg file has been loaded due to file errors.

Recommended actions

1) Load a new sys.cfg file and restart the system

20371, A default mechanical unit group is used

Description

The configuration of task arg has no connection to arg. The attribute

arg is required in a multimove system and is missing.

Consequences

The task performs no movement by the mechanical unit, but can read

motion data. The RAPID functions may fail, if they read motion data

and is connected to the wrong mechanical unit. The mechanical unit

group in arg has been connected to the task.

Probable causes

-The attribute was not specified when the configuration was created.

-The configuration file could have been created in a non-multi move

system.

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130 3HAC020738-001 Revision: K

Recommended actions

1) Make sure the correct mechanical unit group is connected to the

task.

20372, Failed to read configuration data.

Description

The system failed to read the configuration data for the type <arg>.

Consequences

Hotedit or modpos will not be possible.

Probable causes

-The sys.cfg file loaded into the system does not contain hotedit and

modpos information.

-No sys.cfg file has been loaded due to file errors.

Recommended actions

Load a new sys.cfg file and restart the system

20380, No motion planner connected to

mechanical unit

Description

The mechanical unit arg has no motion planner connected.

Consequences

It is not possible to use this mechanical unit in any operations such as

calibration or activation.

Probable causes

The cause of this error is probably an error in the configuration.

Recommended actions

Check the motion and/or controller configuration.

20381, Error when recreating path after power

fail

Description

The path wasn't successfully recreated.

Consequences

The Program Pointer must be moved before restarting the program. It's

recommended to move the robot to a safe position though the robot

might not follow the original path when restarted.

Probable causes

A number of errors may cause this. Faults causing the system to go to

status SYS FAIL will generally also cause path recreate after powerfail

to fail.

Recommended actions

1) Check other event log messages occurring at the same time to

determine the actual cause.

2) Fix the cause of the fault.

3) Move the robot to a safe position before restarting. The robot may

not follow the original path.

20390, Start rejected

Description

Start/restart of program, via System IO, was rejected.

The reason is that write access is held by

arg using arg

Recommended actions

20391, Start at main rejected

Description

Start of program at main, via System IO, was rejected.

The reason is that write access is held by

arg using arg

Recommended actions

20392, Manual interrupt rejected

Description

Manual interrupt of program, via System IO, was rejected.

The reason is that write access is held by

arg using arg

Recommended actions

20393, Load and start rejected

Description

Load and start of program, via System IO, was rejected.

The reason is that write access is held by

arg using arg

Recommended actions

20394, Motors On and Start rejected.

Description

Motors On and Start/restart of program, via System IO, was rejected.

The reason is that write access is held by

arg using arg

Recommended actions

20395, Load rejected

Description

Load of program via System IO, was rejected.

The reason is that write access is held by

arg using arg

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1313HAC020738-001 Revision: K

20396, Manual interrupt rejected

Description

Manual interrupt of program, via System IO, was rejected in task arg.

Manual interrupt is not allowed during synchronized movement.

20397, Manual interrupt rejected

Description

Manual interrupt of program, via System IO, was rejected in task arg.

The interrupt is connected to arg, which is not a valid RAPID

procedure.

Consequences

arg will not be executed.

Probable causes

1. arg does not exist.

2. arg is not a procedure (PROC) that takes zero (0) parameters.

Recommended actions

Make sure that arg is an existing procedure (PROC) that takes zero (0)

parameters.

20398, Automatic Mode Rejected

Description

A stopped static/semistatic task (alias background task) could not be

started when automatic mode was requested.

Consequences

The system can not enter automatic mode.

Probable causes

A stopped static/semistatic task could not be started.

Recommended actions

1) Switch back to manual mode.

2) Make sure that all static/semistatic tasks has a program/module

containing the configured production entry.

3) Make sure that no static/semistatic task has any syntax errors.

4) Switch back to automatic mode and confirm.

20399, Static/Semistatic task started

Description

At least on static/semistatic task (alias background task) was not

executing after startup in automatic mode.

Consequences

Execution was started in at least one static/semistatic task.

Probable causes

System was switched to automatic mode during warm start.

Recommended actions

None, system has automatically reset debug settings.

To keep debug settings in auto:

1) Switch back to auto mode

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to NO.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20400, Debug Settings In Auto

Description

A static/semistatic task (alias background task) has been stopped.

Consequences

The static/semistatic task will not be started.

System will not be in full production mode in auto.

Recommended actions

For full production mode:

1) Switch back to manual mode.

2) Set system parameter Controller/Auto Condition Reset/

AllDebugSettings/Reset to Yes.

3) Switch back to automatic mode and confirm.

4) For more info, see the Technical Reference Manual - System

Parameters.

20401, Too many CFG instances

Description

There are too many instances arg of type arg in topic arg.

Consequences

The wrong instance may be used and cause unexpected behavior.

Probable causes

There are multiple instances of argof type arg in topic arg.

Recommended actions

Remove all instances but one.

20440, Failed to initialize FW upgrade

framework

Description

The firmware upgrade framework for hardware boards could not be

initialized

Consequences

No firmware upgrade of hardware boards will be performed

Probable causes

An invalid xml file in the controller installation:

arg

Recommended actions

For developers:

- Correct the file. Use the hw_compatibility.xsd schema to verify.

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132 3HAC020738-001 Revision: K

For other users:

- Reinstall the system.

20441, Failed to initialize firmware patch

Description

Failed to initialize the firmware patch handling for hardware boards.

Consequences

No firmware patches for hardware boards will be applied

Probable causes

The firmware patch file was invalid:

arg

Recommended actions

Correct the patch file. Use the schema hw_compatibility.xsd to verify.

20443, Multiple firmware upgrade restarts

Description

A new restart to firmware upgrade mode was ordered after two

consecutive upgrade restarts.

Consequences

No further restart to firmware upgrade mode was performed.

Probable causes

Firmware upgrade of a hardware board has most likely failed. The

board's firmware or hardware may be corrupt.

Recommended actions

Check the event log for previous error messages.

20450, SC argCBC Speed exceeded

Description

Cyclic Brake Check (CBC) speed limit is exceeded in Safety

Controller (SC) on Mechanical unit arg, when Brake check is required

Recommended actions

Decrease speed and execute Brake check

20451, SC arg Not synchronized

Description

Safety Controller (SC) arg is not synchronized with supervised

Mechanical units.

Recommended actions

Move all Mechanical units supervised by Safety Controller arg to

the synchronization positions defined in the Safety Configuration.

20452, SC arg Synchronized

Description

Safety Controller (SC) arg is now synchronized to supervised

Mechanical units. Safety supervision can be used.

20453, SC arg Wrong Sync. Position

Description

The positions of the supervised Mechanical units do not match the

synchronization positions defined in the Safety Configuration for

Safety Controller (SC) arg on axis arg.

Recommended actions

- Check that all supervised Mechanical units are positioned at the

configured synchronization position.

- Check that the synchronization switch is working properly.

- Check that motor calibration and revolution counters are updated

and correct.

- Check that the synchronization position in the Safety

Configuration is correct.

- Check for configuration error.

- Download Motor calibration values.

- Check if axis 4 or 6 is configured as independent, if YES, check

that the EPS configuration is configured likewise.

20454, SC arg Servo-Lag Limit exceeded

Description

Safety Controller (SC) arg detected a too big difference between

the ordered and actual position, for Mechanical unit arg on axis arg.

Recommended actions

- Check for collision.

- If using external axis, check Servo Lag settings in the Safety

Configuration.

- If using Soft Servo, Check that the Operational Safety Range

(OSR) Tolerance in the Safety Configuration is not set too low

- Verify that revolution counters are updated.

- Check for communication problems to the Main Computer, Axis

Computer or the Serial Measurement Board.

- Check if tool weight is correctly defined.

20455, SC arg Incorrect Position Value

Description

Incorrect position value from Serial Measurement Board detected

by Safety Controller (SC) arg on Mechanical unit arg.

Recommended actions

- Check resolver and resolver connections.

- Replace Serial Measurement Board.

- Replace resolver.

20456, SC arg Reference Data Timeout

Description

The Robot Controller has stopped sending reference data to Safety

Controller (SC) arg.

Recommended actions

1. Check previous error logs for possible causes.

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1333HAC020738-001 Revision: K

2. Restart System.

20457, SC arg Corrupt Safety Configuration

Description

The Safety Configuration for Safety Controller (SC) arg is corrupt

or contains invalid data.

Recommended actions

- Warm start Robot Controller.

- Download a Safety Configuration to the Safety Controller.

- Reinstall System.

20458, SC arg Internal Failure

Description

Internal Failure in Safety Controller (SC) arg.

Recommended actions

- Check Safety Controller cabling.

- Check Safety Controller health on LED

- Replace Safety Controller if remaining error

20459, SC arg Input/Output Failure

Description

I/O Error on Safety Controller (SC) arg.

Recommended actions

- Check Safety Controller cabling.

- Check Safety Controller health.

Warm start Robot Controller, after performing recommended actions.

20460, SC arg Safety Configuration not

found

Description

Failed to retrieve Safety Configuration for Safety Controller (SC)

arg.

Recommended actions

- Warm start Robot Controller.

- Download a Safety Configuration to the SC.

- Reinstall System.

20461, SC arg Robot Configuration not found

Description

Failed to retrieve Robot Configuration for Safety Controller (SC)

arg.

Recommended actions

- Warm start Robot Controller.

- Reinstall System.

20462, SC arg Calibration Offset not found

Description

Failed to retrieve Motor Calibration offsets for Safety Controller

(SC) arg.

Recommended actions

Download new Calibration offsets to the SC.

20463, SC arg Safety Configuration

downloaded

Description

Download of Safety Configuration was successful for Safety

Controller (SC) arg.

20464, SC arg OSR Limit exceeded

Description

Safety Controller (SC) arg detected a too big difference between

the ordered and actual position inside Operational Safety Range (OSR)

, for Mechanical unit arg on axis arg.

Recommended actions

- Check for collision.

- Check that Operational Safety Range (OSR) Tolerance in the Safety

Configuration is not set too low.

- Synchronize the Safety Controller, if the revolution counters have

been updated since last synchronization.

20465, SC arg SAS Speed exceeded

Description

Safe Axis Speed (SAS) violation on Mechanical unit arg Axis arg

on Safety Controller (SC)

Recommended actions

Decrease speed on Axis arg

20466, SC arg Input/Output Failure

Description

I/O Error on Safety Controller (SC) arg I/O arg Type arg

Type 1: Input

Type 2: Output

Probable causes

- Wrong connection to I/O terminals on SC

- Two channel I/O mismatch

Recommended actions

- Check SC cabling.

- Check SC health.

Warm start Robot Controller, after performing recommended actions.

6 Trouble shooting by Event log

134 3HAC020738-001 Revision: K

20467, SC arg STS speed exceeded

Description

Safe reduced Tool Speed (STS) in Safety Controller (SC) on

Mechanical unit arg too high. Cause arg.

Probable causes

1. Tool0 speed

2. Elbow speed

3. Tool speed

4. Additional axis speed

Recommended actions

Reduce tool speed.

20468, SC arg STZ violation

Description

Safe Tool Zone (STZ) arg is violated on Mechanical unit arg. Cause

arg

Probable causes

1. Exceeded speed

2. Wrong tool position

3. Wrong tool orientation

4. Wrong elbow position

11. Wrong tool point 1 position

12. Wrong tool point 2 position

13. Wrong tool point 3 position

14. Wrong tool point 4 position

15. Wrong tool point 5 position

16. Wrong tool point 6 position

17. Wrong tool point 7 position

18. Wrong tool point 8 position

Recommended actions

- Reduce speed

- Move Robot tool to safe position

- Adjust tool orientation

20469, SC arg SAR violation

Description

Safe Axis Range (SAR) arg is violated on Mechanical unit arg Axis

arg

Recommended actions

Move Mechanical unit to safe position

20470, SC arg Synchronization Pre-warning

Description

Synchronization required for Mechanical units supervised by Safety

Controller (SC) arg in less than arg hour(s).

Recommended actions

Perform synchronization before the time limit expires.

20471, SC arg Synchronization Timeout

Description

Synchronization time limit expired for Safety Controller (SC) arg.

Last synchronization was arg hours ago.

Recommended actions

Perform synchronization.

20472, SC arg New Safety Configuration

Description

Safety Controller (SC) arg has received a new Safety

Configuration. A new PIN-code is needed to activate.

Recommended actions

1. Log in as a user with Safety Configuration grants.

2. Enter new PIN-Code for the Safety Controller in the Control Panel.

20473, SC arg Dual Computer mismatch

Description

Safety Controller (SC) arg have had conflicting values for a Safety

Output for too long.

Consequences

The Safety Controller has entered a Safe State and issue an error after

10 minutes of internal mismatch, if recommended actions are not

performed.

Probable causes

- The Mechanical unit have been parked at a position on, or close

to, a supervised or monitored function limit for too long time.

- Internal computation error in Safety Controller.

Recommended actions

Move all Mechanical units’ axes and tools well inside or outside

monitored and supervised function limits.

20474, SC arg I/O Supply Failure

Description

I/O supply voltage level for Safety Controller (SC) arg is out of

range.

Probable causes

Either the voltage is out of limits or the voltage is missing.

Recommended actions

1. Connect 24V supply with correct voltage level to I/O supply

terminals.

2. Warm start Robot Controller.

6 Trouble shooting by Event log

1353HAC020738-001 Revision: K

20475, SC arg Synchronization rejected

Description

Safety Controller (SC) arg is not correctly configured for

synchronization.

Probable causes

- Safety Configuration PIN is not set or is incorrect.

- Safety Configuration is empty.

- Safety Configuration is corrupt or missing.

- Safety Controller connected to the wrong SMB bus.

- I/O Power supply missing.

Recommended actions

Verify and check possible causes

20476, SC arg Disabled

Description

Safety Controller (SC) arg is disabled.

Consequences

All safety supervision has been disabled in the Safety Controller.

Risk for Safety hazards.

Recommended actions

Download a Safety Configuration to the Safety Controller.

20477, SC arg SMB Communication Failure

Description

Safety Controller (SC) arg failed to communicate with Serial

Measurement Board (SMB).

Recommended actions

1. Make sure that the cabling from SMB to Safety Controller is

connected to the right SMB connector and functional.

2. Restart System.

20478, SC arg Main Supply Failure

Description

The main power supply voltage for Safety Controller (SC) arg is

out of range.

Probable causes

Either the voltage is out of limit or the voltage is missing.

Recommended actions

1. Check Safety Controller cabling.

2. Check voltage from power supply.

3. Warm start Robot Controller.

20479, SC arg Additional Axis missing

Description

An Additional Axis that is supervised by Safety Controller (SC) arg

is no longer present in the System Configuration.

Recommended actions

Reinstall the supervised Additional Axis, or Download a Safety

Configuration without supervision of the Additional Axis.

20480, SC arg SST violation

Description

Safe Stand Still (SST) arg in Safety Controller (SC) is violated on

Mechanical unit arg Axis arg.

Recommended actions

- Verify Rapid program

- Verify process equipment

- Check that movement is not ongoing when SST is active

- Check previous elog messages

20481, SC arg OVR active

Description

Override Operation (OVR) active on Safety Controller (SC) arg

SafeMove will stop the robot after approximately 20 minutes with

OVR active.

Speed is limited to 250 mm/s or 18 degrees/s.

Recommended actions

Deactivate signal connected to OVR input

20482, SC arg OVR time out

Description

Override Operation (OVR) has been active too long time on Safety

Controller (SC) arg.

Recommended actions

1. Warmstart Robot Controller 2. Toggle signal connected to

OVR input

3. Activate Confirm stop by pressing Motors On push button

4. Jog Robot back into working area

5. Deactivate signal connected to OVR input

20483, SC arg CBC soon required

Description

Cyclic Brake Check (CBC) required in less than arg hours.

Recommended actions

Perform a Brake Check before the time limit expires.

6 Trouble shooting by Event log

136 3HAC020738-001 Revision: K

20484, SC arg CBC Time Limit expired

Description

Cyclic Brake Check (CBC) time limit expired in Safety Controller

(SC). Last Brake Check was executed arg hours ago.

Recommended actions

Perform a Brake Check.

20485, SC arg Too low brake torque

Description

Too low brake torque in Safety Controller (SC) on Mechanical unit

arg.

Probable causes

- Axis has not been tested.

- Worn out brake(s).

Recommended actions

- Check that the failing axis is activated

- If failing axis is activated replace brake(s)as soon as possible.

20486, SC arg CBC incorrect

Description

Safety Controller (SC) has detected that the last Cyclic Brake Check

(CBC) on Mechanical unit arg was incorrect.

Recommended actions

- Perform a new Brake Check.

- Check previous elogs.

20487, SC arg Unsynchronized speed

exceeded

Description

Exceeded Axis speed when Safety Controller (SC) arg was

unsynchronized.

Recommended actions

Jog Mechanical unit to synch position with low axis speed. Reduce

speed to 250 mm/s or 18 degrees/s.

20488, SC arg Unsynchronized time limit

expired

Description

Available time to move the Robot when unsynchronized has expired

for Safety Controller (SC) arg.

Recommended actions

1. Do a Confirm stop by pressing the Motors ON push button or

activate System input

2. Synchronize SC arg.

20489, SC arg has been disabled

Description

Safety Controller (SC) arg has been disabled and no supervision

functions are active.

Probable causes

Either a C-start has been performed or it's the first startup of SC.

Recommended actions

Download a Configuration to SC arg.

20490, SC arg OVR Speed exceeded

Description

Override (OVR) Speed limit exceeded on Mechanical unit arg.

Probable causes

If Override (OVR) is active, then OVR speed limitations will be active

Recommended actions

- Decrease speed.

- Deactivate OVR.

20491, SC arg Override active during startup

Description

Override digital input was active during startup on SCarg

20492, SC arg SST violation in Brake test

Description

Movement detected during Brake test on Safety Controller (SC)arg

Mechanical unit arg Axis arg

Probable causes

- Interrupted braketest.

- Worn out Brakes.

Recommended actions

- Restart CBC.

- Replace Brake.

20493, SC arg SBR triggered

Description

Safe Brake Ramp (SBR) on Safety Controller (SC) was interrupted by

a Class 0 stop due to slow deceleration on Mechanical unit arg. This is

normal and occurs in cases when a stop1 is to slow. Check for other

safety controller elog.

Recommended actions

- Change parameter value for SBR in motion configuration

- Trigger a new stop to test the Brake Ramp.

- If this happens frequently, check the Application manual for

Mechanical units configuration.

6 Trouble shooting by Event log

1373HAC020738-001 Revision: K

20494, SC arg Tool change incorrect

Description

Incorrect tool change with Tool arg on Mechanical unit arg

Recommended actions

- Check if correct tool.

- Decrease speed if needed.

- Perform a new tool change.

20501, ES panel open

Description

The emergency stop panel has previously been broken, and while

broken, an attempt was made to operate the robot.

Consequences

The system remains in the Emergency Stop status.

Probable causes

An attempt has been made to manoeuvre a control, e.g. the enabling

device.

Recommended actions

1) To resume operation, first reset the emergency stop panel button.

2) Then switch the system back to state Motors ON by pressing the

Motors ON button on the Control Module.

20502, ES pendant open

Description

The emergency stop pendant has previously been broken, and while

broken, an attempt was made to operate the robot.

Consequences

The system remains in the Emergency Stop status.

Probable causes

An attempt has been made to manoeuvre a control, e.g. the enabling

device.

Recommended actions

1) To resume operation, first reset the emergency stop pendant button.

2) Then switch the system back to state Motors ON by pressing the

Motors ON button on the Control Module.

20503, ES ext.cat.0 open

Description

The emergency stop external has previously been broken, and while

broken, an attempt was made to operate the robot.

Consequences

The system remains in the Emergency Stop status.

Probable causes

An attempt has been made to manoeuvre a control, e.g. the enabling

device.

Recommended actions

1) To resume operation, first reset the emergency stop external button.

2) Then switch the system back to state Motors ON by pressing the

Motors ON button on the Control Module.

20505, Delayed stop open

Description

Delayed stop open.

Consequences

The system goes to status SYS HALT.

Recommended actions

1) To resume operation, first reset the delayed stop button.

2) Then switch the system back to state Motors ON by pressing the

Motors ON button on the Control Module.

20506, Test Stop open

Description

The Test Mode Safeguarded Stop circuit has been broken.

Consequences

The system goes to status SYS HALT.

Probable causes

One or more of the switch connected in series with the Test Mode

Safeguarded Stop circuit have been opened, which may be causes by a

large number of faults. This is only possible while in the Manual

operational mode

Recommended actions

1) Locate the switch, reset it and restart the system.

2) Check cables and connections.

20507, Hardware chain open

Description

Relays (KA16 and KA17) on Safety Interface Board (SIB) not

activated.

Consequences

Motor on command rejected.

Recommended actions

Press motor ON button to close the chain.

20521, Test Stop conflict

Description

Status conflict for the Test Stop chain.

Consequences

The system goes to status SYS HALT.

6 Trouble shooting by Event log

138 3HAC020738-001 Revision: K

Recommended actions

Please check the two-channel safety guard that caused the status

conflict.

20525, ES panel conflict

Description

Status conflict for the Emergency Stop panel chain.

Consequences

The system goes to status emergency stop.

Recommended actions

Please check the two-channel safety guard that caused the status

conflict.

20526, ES pendant conflict

Description

Status conflict for the Emergency Stop pendant chain.

Consequences

The system goes to status emergency stop.

Recommended actions

Please check the two-channel safety guard that caused the status

conflict.

20527, ES ext.cat.0 conflict

Description

Status conflict for the Emergency Stop ext.cat.0 chain.

Consequences

The system goes to status emergency stop.

Recommended actions

Please check the two-channel safety guard that caused the status

conflict.

20528, HV Interlock input conflict

Description

Only one of the two input signals in the high voltage chains is opened.

Consequences

Paint enable chain opens.

Recommended actions

Please check the two-channel safety guard that caused the status

conflict.

20529, Cabin Interlock input conflict

Description

Only one of the two input signals in cabin interlock chains is opened.

Consequences

Paint enable chain opens.

Recommended actions

Check cables and connections.

20531, Delayed Stop conflict

Description

Status conflict for the delayed stop circuit.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check cables and connections.

20534, Mode selector conflict

Description

Any of the connections to the mode selector are faulty.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check cables and connections.

20535, AUX Interlock conflict

Description

Only one of the two AUX interlock chains was opened. Normally used

on CBS door interlock.

Consequences

Paint enable chain opens.

Recommended actions

Check cables and connections.

20536, Motor on chain conflict

Description

Only one of the two motor on chain signals in run chain is opened.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check cables and connections.

20556, Enable 2 AXC 1 open

Description

Status active when enable from Axis Computer 1 open.

Consequences

The system goes to status SYS HALT.

6 Trouble shooting by Event log

1393HAC020738-001 Revision: K

Recommended actions

1. Check other error messages for primary fault reason.

2. If no other error messages, please check line voltage for one phase

missing.

20557, Enable 2 AXC 2 open

Description

Status active when enable from Axis Computer 2 open.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check other error messages for primary fault reason.

2. If no other error messages, please check line voltage for one phase

missing.

20558, Manipulator fault

Description

Status active when power to manipulator arg connected to Manipulator

Interface Board (MIB) arg is lost, or manipulator's enable chain

conditions is not OK.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check the power to the manipulator.

2. Check that the enable chain on Manipulator Controller Board

(MCOB) is OK.

20559, Collision sensor active

Description

Status active when digital collision sensor on Manipulator Controller

Board (MCOB) is active.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check the collision sensors connected to MCOB.

20560, Axis limit on MCOB

Description

Status active when limit sensor on Manipulator Controller Board

(MCOB) is active.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check the limit sensors connected to MCOB.

20561, MCOB software has opened enable

chain

Description

Status active when Manipulator Controller Board (MCOB) software

has opened the enable chain on MCOB.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check the MCOB software.

20562, Reset ES fault

Description

Status active when Reset Emergency Stop input is activated for more

than 3 seconds.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check the connection of external reset of Emergency Stop.

2. Check the motor on push button.

20563, Servo disconnect open

Description

Status active when Servo disconnect switch on system arg is off.

Consequences

The system goes to status SYS HALT.

Recommended actions

If Servo disconnect switch is not installed, check the disable link on

Manipulator Interface Board (MIB).

20564, Brake rel. on axes 1 & 7

Description

Status active when manual brake release on axes 1 and 7 enabled.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check switch for manual brake release of axes 1 and 7.

20565, External enable 1 open

Description

Status active when external enable 1 on Manipulator Controller Board

(MCOB) is open.

Consequences

The system goes to status SYS HALT.

6 Trouble shooting by Event log

140 3HAC020738-001 Revision: K

Recommended actions

Check connection on MCCB X25.

20566, External enable 2 open

Description

Status active when external enable 2 on Manipulator Controller Board

(MCOB) is open.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check connection on MCCB X43.

20567, Power low on MCOB

Description

Status active when power below 16V on Manipulator Controller Board

(MCOB).

Consequences

The system goes to status SYS HALT.

Recommended actions

Check power on MCOB.

20568, Hardware enable open on MCOB

Description

Status active when firmware on Manipulator Controller Board

(MCOB) has opened the enable chain.

Consequences

The system goes to status SYS HALT.

20569, Watchdog fault on MCOB

Description

Status active when watchdog on Manipulator Controller Board

(MCOB) fails.

Consequences

The system goes to status SYS HALT.

20570, TPU wiring error

Description

Status active when Process Interface Board (PIB) detects fault on

emergency stop pendant and enabling device signals (glitch test).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections to Teach Pendant Unit (TPU).

2. Check Pendant Interface Board (TIB) and Manipulator Interface

Board (MIB).

20571, HV Interlock open

Description

Paint system High Voltage (HV) interlock is opened by external

interlock connection.

Consequences

Paint enable chain opens.

Recommended actions

Check manual switch for disconnecting of the HV system.

20572, Cabin Interlock open

Description

Cabin Interlock is opened by external interlock connection.

Consequences

Paint enable chain opens.

Recommended actions

Check cabin ventilation and other cabin safety functions.

20573, Controller ID is Missing

Description

Controller ID is the controller's unique identity. It is by default equal

to the serial number of the controller's cabinet. The software

configuration of the controller is missing this identity information.

Probable causes

This may happen if the storage media of the controller has been

replaced or reformatted.

Recommended actions

Read the serial number of the controller from the controller cabinet to

find out what the controller ID should be. Use RobotStudio tools to set

this value for the controller.

20574, Process Interlock open

Description

Process Interlock is opened by external interlock connection.

Consequences

Paint enable chain opens.

Recommended actions

Check manual switch for disconnecting of the process system.

20575, AUX Interlock open

Description

AUX Interlock is opened by external interlock connection. Normally

used for Cartridge Bell System (CBS).

6 Trouble shooting by Event log

1413HAC020738-001 Revision: K

Consequences

Paint enable chain opens.

Recommended actions

Check cables and equipments connected to AUX inputs.

20576, System 2 Interlock open

Description

System 2 Interlock is opened. Normally used for Cartridge Bell

System (CBS) or paint pumps

Consequences

Paint enable chain opens.

Recommended actions

Check cables and equipments connected to system 2.

20577, HV ON open

Description

High Voltage (HV) switch on operating panel is opened.

Consequences

Paint enable chain opens.

Recommended actions

Give acknowledge on motor ON and switch on the HV key to close the

HV interlock chain.

20581, SPI communication towards SIB is down

Description

Status active when cyclic enable 1 test fails from Safety Interface

Board (SIB).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check status on Serial Peripheral Interface (SPI) status.

2. Check cables between Process Interface Board (PIB) abd SIB.

20582, SPI communication towards MIB is

down

Description

Status active when cyclic enable 1 test fails from Manipulator Interface

Board (MIB) arg.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check cables and Serial Peripheral Interface (SPI) status.

2. Check cables between SIB and Manipulator Interface Board (MIB).

20583, Watchdog towards PIB software fails

Description

Status active when firmware on Process Interface Board (PIB)

discover watchdog fault between PIB firmware and PIB software.

Consequences

The system goes to status SYS HALT.

Probable causes

Too high processor load on PIB software.

20584, Fault on internal SPI

Description

Status active when firmware on Process Interface Board (PIB)

discover watchdog fault towards Safety Interface Board (SIB) and

Manipulator Interface Board (MIB).

Consequences

The system goes to status SYS HALT.

Probable causes

Serial Peripheral Interface (SPI) communication is down on SPI 1.

Recommended actions

Check cables between PIB, SIB and MIB.

20585, Enable chain opened from IPS

Description

Status active when enable chain is opened from signal Safety/PibSw/

Enable.

Consequences

The system goes to status SYS HALT.

Recommended actions

Check the actuator connected to signal Safety/PibSw/Enable.

20586, Watchdog fault towards PIB firmware

Description

Status active when software on Process Interface Board (PIB) discover

watchdog fault towards PIB firmware caused by fault on FPGA.

Consequences

The system goes to status SYS HALT.

20587, Watchdog fault towards PIB firmware

Description

Status active when software on Process Interface Board (PIB) discover

watchdog fault towards PIB firmware caused by fault on the In-System

Micro Controller.

Consequences

The system goes to status SYS HALT.

6 Trouble shooting by Event log

142 3HAC020738-001 Revision: K

Probable causes

Firmware not running.

20588, Watchdog fault between PIB and MC

Description

Status active when software on Process Interface Board (PIB) discover

watchdog fault towards Main Computer (MC).

Consequences

The system goes to status SYS FAIL.

Recommended actions

Check ethernet cable between PIB and MC.

20589, Watchdog fault between PIB and MCOB

Description

Status active when agent connection on CAN between Process

Interface Board (PIB) and Manipulator Controller Board (MCOB) is

down.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check CAN cables.

2. Check MCOB status.

20590, Open circuit mask not set

Description

The open circuit mask for brakes on Manipulator Controller Board

(MCOB) is not set. The mask should be set from Process Interface

Board (PIB) during start-up.

Consequences

This message will be given every time the brakes are released, until the

open circuit mask on MCOB is set.

Probable causes

IPS configuration on PIB is not loaded or configuration file for brake

settings is missing.

Recommended actions

1. Check that IPS configuration is loaded during start-up.

2. Check that IPS configuration file for brake settings are installed on

PIB.

20591, TPU hot plug timeout

Description

The TPU hot plug button is pressed for too long time.

Consequences

The system goes to status SYS HALT.

Recommended actions

Press motor ON button to close the chain.

20600, Unofficial RobotWare release

Description

The current RobotWare is not an officially supported release.

Unofficial RobotWare releases may only be used for time-limited test

and validation purposes.

Consequences

ABB will not provide long-term support on unofficial releases.

Recommended actions

If this is a production system, install an official RobotWare release as

soon as possible.

20601, Too long paths when unpacking

RobotWare files

Description

The RobotWare installation package was not properly unpacked on the

controller. Some files in the package have a path that is too long and

could not be handled by the controller software.

During the installation process the controller software was upgraded to

handle longer paths, so a re-installation of the system should solve the

problem.

Consequences

Some RobotWare files are missing on the controller and your system

may not be able to operate properly.

Recommended actions

Re-install the system by using SystemBuilder. If the error is still

present after the re-installation, contact customer support.

20602, Unofficial RobotWare image

Description

The current RobotWare main computer image is not the original, and

is hence not officially supported.

Consequences

ABB will not provide long-term support on unofficial RobotWare

releases.

Probable causes

The officially released main computer image has been replaced, e.g.,

for the purpose of collecting diagnostic data for a specific problem.

Recommended actions

If this is a production system, install an official RobotWare release as

soon as possible.

6 Trouble shooting by Event log

1433HAC020738-001 Revision: K

20610, Motor phase short circuit

Description

The drive unit for joint arg has reported short circuit. The joint is

connected to drive module arg with unit position arg and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

1) Short circuit in cables or connectors between the phases or to

ground.

2) Short circuit in motor between the phases or to ground.

Recommended actions

1) Check/replace cables and connectors.

2) Check/replace motor.

20620, The system has entered an internal test

mode

Description

A feature to perform ABB Robotics internal tests has been enabled

in arg.

Consequences

The system may not behave as expected.

Recommended actions

Restart the system when the test has been performed. If this was

an unexpected message, please contact your contact your local ABB

representative for assistance.

31810, DeviceNet master/slave board is

missing

Description

The DeviceNet master/slave board does not work.

Consequences

No communication on the Devicenet is possible.

Probable causes

The DeviceNet master/slave board is either malfunctioning or missing.

Recommended actions

1. Make sure a DeviceNet master/slave board is installed.

2. Replace the board if faulty.

31811, Second DeviceNet master/slave board is

missing

Description

Dual option is configured but only one DeviceNet master/slave board

is installed.

Consequences

Only one DeviceNet bus is available.

Probable causes

The Second DeviceNet master/slave board is either malfunctioning or

missing.

Recommended actions

1. Make sure a Second DeviceNet master/slave board is installed.

2. Replace the Second board if faulty.

31812, Incompatible DeviceNet Boards

Description

The system has detected incompatible types of DeviceNet boards.

Consequences

No communication on the DeviceNet is possible.

Probable causes

Incompatible types of DeviceNet boards have been installed in the

system.

Recommended actions

Make sure that compatible board types are installed.

31910, Profibus-DP master/slave board is

missing

Description

The Profibus-DP master/slave board does not work.

Consequences

No communication on the Profibus is possible.

Probable causes

The Profibus-DP master/slave board is either malfunctioning or

missing.

Recommended actions

1. Make sure a Profibus-DP master/slave board is installed.

2. Replace the board if faulty.

31911, Profibus board update error

Description

The RobotWare software was not able to download new driver

software to the Profibus-DP master/slave board. The arg channel (ch

arg) of the Profibus board could not be programmed. Internal error

code:arg.

Consequences

No communication on the Profibus is possible.

Probable causes

The RobotWare software may be corrupt or the board hardware may

be malfunctioning.

6 Trouble shooting by Event log

144 3HAC020738-001 Revision: K

Recommended actions

1. Restart the system to reattempt downloading the software.

2. Reinstall the present system files.

3. Create and run a new system to download the driver software.

4. Replace the board if faulty.

31912, Profibus-DP master/slave board failure

Description

The Profibus-DP master/slave board did not start up correctly.

Consequences

No communication on the Profibus is possible.

Probable causes

The Profibus-DP master/slave board hardware may be malfunctioning.

Recommended actions

1. Restart the system.

2. Replace the Profibus-DP master/slave board if faulty.

31913, Profibus-DP master/slave board internal

error

Description

The Profibus-DP master/slave board reported internal error arg.

Consequences

No communication on the Profibus is possible.

Probable causes

The Profibus-DP master/slave board hardware may be malfunctioning.

Recommended actions

1. Restart the system.

2. Replace the Profibus-DP master/slave board if faulty.

31914, Profibus startup error

Description

- Profibus master bus error Error code arg. Check cabling, terminators

and modules then restart.

Recommended actions

31915, Profibus Bus Error

Description

Profibus master bus error.

Internal error

Error code arg.

Consequences

Certain expected associated errors may be delayed.

Probable causes

Faulty profibus cabling, terminators and/or module(s).

Duplicated profibus addresses.

Recommended actions

Check cabling, terminators and modules.

31916, Profibus bus OK

Description

- Profibus regained contact on the master bus.

Recommended actions

31917, Profibus-DP master/slave board

exception

Description

A fatal error has occurred on the Profibus-DP master/slave board. arg

channel in task arg. Parameters arg

Consequences

No communication on the Profibus is possible.

Probable causes

The Profibus-DP master/slave board hardware may be malfunctioning.

Recommended actions

1. Restart the system.

2. Replace the Profibus-DP master/slave board if faulty.

32500, Robot Communication Card is missing

Description

The system cannot contact the Robot Communication Card.

Consequences

No communication with the Safety System is possible. The system

goes to status SYS FAIL.

Probable causes

The Robot Communication Card is either malfunctioning or missing.

Recommended actions

1. Make sure a Robot Communication Card is installed.

2. Replace the unit if faulty.

32501, Incorrect RCC firmware

Description

The FPGAR11-Firmware on the RCC (DSQC602) is of an

incompatible version. Current version: arg.arg Requested version:

arg.arg

Recommended actions

1. Replace the DSQC602 board

2. Restart the system

6 Trouble shooting by Event log

1453HAC020738-001 Revision: K

32502, Can't find file

Description

The system cannot find the file: [arg]

Recommended actions

Reinstall the system

32503, Requested info not in file

Description

The system cannot find information about what software to download

to HardWare ID="arg", Version="arg", Revision="arg" in file [arg].

Probable causes

The file has either been damaged, or the actual hardware version of the

unit is not supported.

Recommended actions

1. Reinstall the system

2. Replace the unit to a version which is supported by this SW-release.

32530, No Communication With The Safety

System

Description

There is no serial communication between the Safety System and the

robot communication card.

Consequences

The system goes to status SYS FAIL.

Probable causes

Probably hardware fault in cable between Safety System and Robot

Communication Card. The Safety System, or it's power supply, may

also be faulty.

Recommended actions

1) Restart the system to resume operation.

2) Make sure the cable between robot communication card and Safety

System is working and correctly connected.

3) Check the Safety System power supply.

4) Replace the unit if faulty.

32540, Drive unit firmware reflash started

Description

In drive module arg, a required upgrade of the firmware in the drive

unit at unit position arg has started. The old firmware revision arg is

replaced with revision arg.

Recommended actions

Wait for the firmware upgrade process to complete. Do not turn off

system power!

32541, Drive unit firmware reflash complete

Description

In drive module arg, the upgrade of the firmware in the drive unit with

unit position arg is completed. New revision is arg.

32542, Drive unit hardware not supported

Description

In drive module arg, the system cannot use the drive unit with

hardware identity arg because the hardware revision arg is not

supported.

Consequences

The system is unable to use the drive unit. The system goes to System

Failure state.

Probable causes

The RobotWare version is too old to support the drive unit.

Recommended actions

1) Upgrade the system to a RobotWare version supporting the drive

unit revision.

2) Replace the drive unit to one with compatible revision.

32543, Drive unit firmware reflash failed

Description

In drive module arg, the upgrade of the firmware in the drive unit at

unit position arg failed.

Consequences

The required upgrade of the drive unit firmware is not performed.

Recommended actions

1) Check other hardware eventlog messages for detailed explanation of

the error condition.

2) Try again by restart the system using the main power switch.

32544, Drive unit firmware file not found

Description

The file arg, required to upgrade a drive unit’s firmware, is not found.

Consequences

The required upgrade of the drive unit firmware is not performed.

Probable causes

The RobotWare installation does not contain the firmware file.

Recommended actions

Reinstall the system.

32545, Drive unit firmware file type error

Description

The file arg, required to upgrade a drive unit’s firmware, is of wrong

type.

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146 3HAC020738-001 Revision: K

Consequences

The required upgrade of the drive unit firmware is not performed.

Probable causes

The RobotWare installation is faulty.

Recommended actions

Reinstall the system.

32546, Drive unit firmware file error

Description

The file arg, required to upgrade a drive unit’s firmware, is not usable

because it failed the integrity check.

Consequences

The required upgrade of the drive unit firmware is not performed.

Probable causes

The RobotWare installation is faulty.

Recommended actions

Reinstall the system.

32550, Firmware reflash started

Description

A required update of the arg firmware has started. File used: [arg].

Recommended actions

Wait for the reflash to complete

32551, Firmware reflash completed

Description

The update of arg firmware has completed successfully.

32552, Firmware reflash failed

Description

The update of arg firmware failed.

Internal errorcode:arg

Recommended actions

1. Check other error messages for detailed explanation

2. Restart the system

3. Reinstall the system

4. Replace the arg

32553, Firmware file is corrupt

Description

The firmware file [arg] is corrupt. Internal errorcode:arg

Recommended actions

Reinstall the system

32554, Firmware file not found

Description

The firmware file [arg] is not found.

Recommended actions

Reinstall the system

32555, Safety System Unit Not Supported

Description

The system cannot use the Safety System unit arg, revision arg.

Consequences

The system is unable to use the affected hardware.

Recommended actions

1. Change the affected hardware to a compatible version.

32560, Axis computer firmware reflash started

Description

In drive module arg, a required upgrade of the firmware in the axis

computer arg with hardware identity arg has started. The old firmware

revision arg is replaced with revision arg.

Recommended actions

Wait for the firmware upgrade process to complete. Do not turn off

system power!

32561, Axis computer firmware reflash

complete

Description

In drive module arg, the upgrade of the firmware in the axis computer

arg with hardware identity arg is completed. New revision is arg.

32562, Axis computer communication error

Description

The system failed to communicate with the axis computer in drive

module arg when trying to read firmware information.

Consequences

The system is unable to determine if an upgrade is required of the

firmware in the affected drive module. The system goes to System

Failure state.

Probable causes

This may be due to a cable break, bad connector or high levels of

interference in the cable between the main computer and the axis

computer.

Recommended actions

1) Make sure the cable between the main computer and the axis

computer is not damaged and that both connectors are correctly

connected.

6 Trouble shooting by Event log

1473HAC020738-001 Revision: K

2) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

32563, Axis computer hardware not supported

Description

In drive module arg, the system cannot use the axis computer with

hardware identity arg because the hardware revision arg is not

supported.

Consequences

The system is unable to use the axis computer. The system goes to

System Failure state.

Probable causes

The RobotWare version is too old to support the axis computer unit.

Recommended actions

1) Replace the axis computer to one with compatible revision.

2) Upgrade the system to a RobotWare version supporting the axis

computer revision.

32564, Axis computer firmware reflash failed

Description

In drive module arg, the upgrade of the firmware in the axis computer

arg with hardware identity arg failed.

Consequences

The required upgrade of the axis computer firmware is not performed.

Recommended actions

1) Check other hardware eventlog messages for detailed explanation of

the error condition.

2) Retry again by restarting the system using the main power switch.

32565, Axis computer firmware file not found

Description

The file arg, required to upgrade an axis computer’s firmware, is not

found.

Consequences

The required upgrade of the axis computer firmware is not performed.

Probable causes

The RobotWare installation does not contain the firmware file.

Recommended actions

Reinstall the system.

32567, Axis computer firmware file type error

Description

The file arg, required to upgrade an axis computer firmware, is of

wrong type.

Consequences

The required upgrade of the axis computer’s firmware is not

performed.

Probable causes

The firmware file is corrupt.

Recommended actions

Reinstall the system.

32568, Axis computer firmware file error

Description

The file arg, required to upgrade an axis computer’s firmware, is not

usable because it failed the integrity check.

Consequences

The required upgrade of the axis computer firmware is not performed.

Probable causes

The firmware file is corrupt.

Recommended actions

Reinstall the system.

32569, Corrupt axis computer hardware

Description

In drive module arg, the axis computer flash memory has a corrupt

content.

Recommended actions

1. Retry again by restarting the system using the main power

switch.

2. If the problem remains then replace the axis computer.

32570, Firmware reflash started

Description

A required update of the arg firmware has started. Replacing old

firmware version: [arg].

Recommended actions

Wait for the reflash to complete

32571, Firmware reflash completed

Description

The update of arg firmware has completed successfully. New version:

[arg]. Internal code:[arg]

32572, Firmware reflash failed

Description

The upgrade of arg firmware failed.

Current version:arg. Internal errorcode:arg.

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148 3HAC020738-001 Revision: K

Recommended actions

1. Check other hardware eventlog messages for detailed explanation of

the error condition.

2. Reinstall the system.

32573, Unable to download firmware file

Description

The firmware file arg is not found. Internal error code:arg.

Recommended actions

Reinstall the system.

32574, Corrupt axis computer hardware

Description

The arg flash memory has a corrupt content. Internal error code:arg.

Recommended actions

1. Check other hardware eventlog messages for detailed explanation of

the error condition.

2. Restart the system.

3. If failure occurs again, replace the axis computer.

32575, Found no axis computer board

Description

System failed to detect any connected axis computer.

Recommended actions

1. Check system for axis computer board.

2. Check ethernet cables between the main computer and the axis

computer.

3. Restart the system.

32576, Axis firmware: No communication

Description

The system failed to communicate with axis board arg when trying to

check the firmware version.

Consequences

The system is unable to check and if necessary upgrade the firmware

in the affected axis computer.

Recommended actions

1. Check system for axis computer board.

2. Check ethernet cables between the main computer and the axis

computer.

3. Restart system.

32577, Axis computer hardware data error

Description

In drive module arg, the axis computer has corrupt information

stored on the unit.

Consequences

The system goes to System Failure state.

Probable causes

The integrity check of the axis computer information stored on the unit

has failed.

Recommended actions

1) Retry again by restarting the system using the main power

switch.

2) Replace the faulty axis computer.

32580, Firmware reflash started

Description

A required update of the arg firmware has started. Internal code: [arg].

File: [arg].

Recommended actions

Wait for the reflash to complete

32581, Firmware reflash completed

Description

The update of arg firmware has completed successfully . Internal

code:[arg]

Recommended actions

No action required

32582, Firmware reflash failed

Description

The update of arg firmware failed.

Internal errorcode:arg

Recommended actions

1. Check other error messages for detailed explanation.

2. Reinstall the system.

32583, Firmware file corrupt

Description

The update of arg firmware failed.

The firmware file [arg] is corrupt.

Internal errorcode:arg.

Recommended actions

Reinstall the system

32584, Firmware file not found

Description

The update of arg firmware failed.

The firmware file [arg] is not found.

Internal errorcode:arg.

6 Trouble shooting by Event log

1493HAC020738-001 Revision: K

Recommended actions

Reinstall the system

32585, No Safety System Found By Axis

Computer

Description

Axis computer failed to detect the Safety System.

Recommended actions

1. Check communication cables between the axis computer and the

Safety System.

2. Check power supply to the Safety System.

3. Restart the system

32590, Firmware reflash started

Description

A required update of the arg firmware in drive module arg has started.

File: [arg].

Recommended actions

Wait for the reflash to complete, this will take approximately 3.5

minutes.

32591, Firmware reflash completed

Description

The update of arg firmware in drive module arg has sucessfully

completed.

Recommended actions

No action required

32592, Firmware reflash failed

Description

The update of arg firmware in drive module arg has failed.

Recommended actions

1. Check other error messages for detailed explanation.

2. Reinstall the system.

32593, Firmware file corrupt

Description

The update of arg firmware in drive module arg has failed.

The firmware file [arg] is corrupt.

Recommended actions

Reinstall the system

32594, Firmware file not found

Description

The update of arg firmware in drive module arg has failed.

The firmware file [arg] is not found.

Recommended actions

Reinstall the system

32601, Interbus master/slave board is missing

Description

The Interbus master/slave board does not work.

Consequences

No communication on the Interbus is possible.

Probable causes

The Interbus master/slave board is either malfunctioning or missing.

Recommended actions

1) Make sure a Interbus master/slave board is installed.

2) Replace the board if faulty.

32651, Serial port hardware is not accessible

Description

The system has tried to address the serial port arg, and failed.

Consequences

The optional serial port hardware can not be accessed. The connector

and the physical channel using the connector will not be available for

use.

Probable causes

The serial port hardware is missing or malfunctioning.

Recommended actions

1) Make sure the required serial port hardware has been correctly

installed and is not faulty.

2) Replace the serial port hardware.

33503, Revolution counter update failure

Description

Update of the revolution counter for joint arg failed.

Consequences

Joint not synchronized

Probable causes

1. Joint missing or not active

2. Measurement system error

Recommended actions

1. Check if joint active

2. Check configuration files

3. Check measurement system

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33601, Fieldbus Adapter is missing

Description

The Fieldbus Adapter is missing.

Consequences

No communication with the Fieldbus Adapter is possible.

Probable causes

The Fieldbus Adapter is either malfunctioning or missing.

Recommended actions

1. Make sure a Fieldbus Adapter is installed.

2. Replace the module if faulty.

34100, Drive system not supported

Description

The configured drive system in drive module arg is not of type Drive

System '04.

Consequences

The system goes to System Failure state.

Probable causes

1. Wrong drive module key used, i.e., the configuration does not match

hardware.

2. Wrong hardware used in the system.

Recommended actions

1. Reinstall the system with a drive module key that matches the

hardware.

2. Replace the drive module with one that supports Drive System '04.

34101, Drive system not supported

Description

The configured drive system in drive module arg is not of type Drive

System '09.

Consequences

The system goes to System Failure state.

Probable causes

1. Wrong drive module key used, i.e., the configuration does not match

hardware.

2. Wrong hardware used in the system.

Recommended actions

1. Reinstall the system with a drive module key that matches the

hardware.

2. Replace the drive module with one that supports Drive System '09.

34200, Lost communication with all drive units

Description

In drive module arg, the axis computer has lost communication with

all drive units.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

Communication problem between drive units and the axis computer.

Recommended actions

1) Check that all cables are properly connected.

2) Check that the drive units have logic power.

3) Check/replace Ethernet cables.

4) Check for other hardware eventlog messages.

5) Check the event log for power supply unit error messages.

6) Check the cabling between the power supply unit and the drive unit.

7) Check the 24V output from the power supply unit.

34201, Connected drive unit not configured

Description

The drive unit in drive module arg with drive unit position arg is

connected but not used in the configuration.

Consequences

Operation will be possible, but the extra drive unit will not be used.

Probable causes

The drive unit is not used in the configuration.

Recommended actions

1) Remove extra drive unit if not needed.

2) Reinstall the system with a drive module key supporting the extra

drive unit.

34202, Lost communication with drive unit

Description

In drive module arg, the axis computer has lost communication with

the drive unit at unit position arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

Communication problem between the drive unit and the axis computer.

Recommended actions

1) Check that all cables are properly connected.

2) Check that the drive unit has logic power.

3) Check/replace Ethernet cables.

4) Check for other hardware eventlog messages.

5) Check the event log for power supply unit error messages.

6) Check the cabling between the power supply unit and the drive unit.

7) Check the 24V output from the power supply unit.

6 Trouble shooting by Event log

1513HAC020738-001 Revision: K

34203, Motor current too high

Description

The motor current is too high for joint arg, connected to drive

module arg with the drive unit at unit position arg and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

1) The motor configuration is incorrect.

2) The axis load may be too high or the motor may have stalled (maybe

due to a collision).

3) The motor is too small for the drive unit.

4) Short circuit between motor phases or ground.

Recommended actions

1) Check that the motor configuration is correct.

2) Check that the robot has not collided.

3) If possible, reduce the speed of the user program.

4) Check that the axis load is not too high for the motor.

5) Verify that the maximum motor current is not too small compared to

the maximum current of the drive unit.

6) Check the motor cable and motor by measuring their resistance

respectively. Disconnect before measuring.

34251, Incoming mains phase missing

Description

In drive module arg, the rectifier unit at drive unit position arg has

detected a power loss in one phase.

Consequences

The system may stop with DC link too low voltage.

Probable causes

1) Incoming mains voltage loss of one phase.

2) Some malfunction in cabling or internal 3-phase components.

3) The rectifier unit is faulty.

Recommended actions

1) Check all incoming mains phases to the cabinet.

2) Check all internal 3-phase components (main switch, mains filter,

fuse, contactors) and cabling in the drive module.

34252, Incoming mains missing

Description

In drive module arg, the rectifier unit at drive unit position arg has

detected a mains voltage loss.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

1) Incoming mains voltage loss.

2) Some malfunction in the cabling or in internal 3-phase components.

3) The rectifier unit is faulty.

Recommended actions

1) Check the incoming mains voltage.

2) Check all the internal 3-phase components (main switch, mains

filter, fuse, contactors) and cabling in the drive module.

34255, Rectifier temperature error

Description

In drive module arg, the rectifier unit at drive unit position arg has

reached a too high temperature level.

Consequences

No operation will be possible until the rectifier has cooled down. The

system goes to Motors Off state.

Probable causes

1) The cooling fans may be faulty or the air flow may be obstructed.

2) The ambient temperature may be too high.

3) The system may be running with a too high torque for extended

periods of time.

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

3) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

4) Reduce the static torque due to gravity or external forces.

34256, Rectifier temperature warning

Description

In drive module arg, the rectifier unit at drive unit position arg is

approaching a too high temperature level.

Consequences

It is possible to continue but the margin to maximum allowed

temperature is too low to sustain long term operation.

Probable causes

1) The cooling fans may be faulty or the air flow may be obstructed.

2) The ambient temperature may be too high.

3) The system may be running with a too high torque for extended

periods of time.

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

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152 3HAC020738-001 Revision: K

3) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

4) Reduce the static torque due to gravity or external forces.

34257, Open circuit in bleeder resistor circuit

Description

In drive module arg, the bleeder resistor connected to the rectifier

unit at drive unit position arg has too high resistance (open circuit).

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

WARNING HIGH VOLTAGE: THE DC LINK WILL NOT BE

DISCHARGED WHEN THE SYSTEM IS POWERED OFF.

Probable causes

This may be caused by a faulty bleeder resistor cable or a faulty bleeder

resistor.

Recommended actions

WARNING HIGH VOLTAGE CAN BE PRESENT.

1) Make sure the bleeder resistor cable is properly connected to the

rectifier unit.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg oh m s .

34258, Short circuit in bleeder resistor circuit

Description

In drive module arg, the bleeder resistor connected to the rectifier

unit at drive unit position arg is indicating a short circuit.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

WARNING HIGH VOLTAGE: THE DC LINK WILL NOT BE

DISCHARGED WHEN THE SYSTEM IS POWERED OFF.

Probable causes

This may be caused by a faulty bleeder resistor cable or a faulty bleeder

resistor.

Recommended actions

WARNING HIGH VOLTAGE CAN BE PRESENT.

1) Make sure the bleeder resistor cable is correctly connected to the

rectifier unit.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Check for bleeder short circuit against ground.

34261, Rectifier startup error

Description

In drive module arg, the inrush control relay in the rectifier unit at

drive unit positionarg indicates an error.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

This may be caused by a faulty rectifier inrush control relay.

Recommended actions

Restart the system and try again. If the problem remains then replace

the unit.

34262, Incoming mains frequency warning

Description

In drive module arg, the incoming mains voltage has wrong

frequency. The rectifier unit at drive unit position arg has reported the

problem.

Consequences

The system may stop with DC link voltage too low.

Probable causes

1) The incoming mains frequency is not within specification.

2) Short circuit between motor phases or ground.

Recommended actions

1) Check and adjust incoming mains frequency.

2) Check the motor cable and motor by measuring their resistance

respectively. Disconnect before measuring.

34263, Rectifier startup error

Description

In drive module arg, the inrush control resistor in the rectifier unit

at drive unit position arg has too high resistance (open circuit).

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

This may be caused by a faulty rectifier inrush control resistor.

Recommended actions

Restart the system and try again. If the problem remains then replace

the unit.

34264, Rectifier inrush limitation active in

Motors On

Description

In drive module arg, the inrush control resistor in the rectifier unit

at drive unit position arg is wrongly engaged.

Consequences

The system goes to Motors Off state to protect the hardware.

6 Trouble shooting by Event log

1533HAC020738-001 Revision: K

Probable causes

This error occur when the DC link voltage becomes too low and all

mains phases are missing.

Recommended actions

1) Check the hardware eventlog for other errors.

2) Check incoming mains voltage.

3) Check that the correct voltage is selected with jumpers on the

transformer (optional).

4) Check all internal 3-phase components (main switch, mains filter,

fuse, contactors) and cabling in the drive module.

34265, DC link short circuit error

Description

In drive module arg, the DC link in the rectifier unit at drive unit

position arg is short circuit.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

1) DC link cables for an additional drive unit is damaged or wrongly

connected.

2) Internal error in rectifier unit or drive unit.

Recommended actions

Check DC link cables and connectors.

34266, Rectifier inrush limitation and bleeder

active

Description

In drive module arg, with rectifier unit at drive unit position arg,

the inrush control resistor is active at the same time as the bleeder

resistor is active.

The inrush control resistor is located in the rectifier unit.

The bleeder resistor is connected to the rectifier unit or the drive unit

with embedded rectifier.

Consequences

The system goes to Motors Off state to protect the hardware.

Probable causes

This problem is most likely to occur when the incoming mains voltage

is too high to the rectifier.

Recommended actions

1) Check that the incoming mains voltage is according to specification

for the drive unit.

2) Check that the correct voltage is selected with jumpers on the

transformer (optional).

34267, Too many rectifiers connected

Description

In drive module arg the system has detected more rectifers than the

system can handle. The limit was reached when drive unit at unit

position arg was detected.

Consequences

No operation will be possible until the fault is corrected. The system

goes to System Failure state.

Probable causes

1) Too many drive unit that are equippted with rectifiers are connected.

Recommended actions

1) Verify that the proper drive units types are connected to the drive

unit communication link.

2) Disconnect unused drive unit(s).

34300, Unknown drive unit type

Description

In drive module arg, the drive unit at unit position arg has an

unknown hardware identity arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to System Failure state.

Probable causes

The drive unit is either unsupported or faulty.

Recommended actions

1) Verify that the drive unit is supported by the RobotWare

version. Upgrade RobotWare if needed.

2) Replace drive unit.

34303, Motor current warning

Description

For joint arg, the current controller detected a too large torque

current deviation for the motor. The joint is connected to drive module

arg in the drive unit at unit position arg and node arg.

Consequences

Operation will be possible but system is close to a stopping error.

Probable causes

1) The motor data in the configuration files may be wrong.

2) The motor cables are not correctly connected or damaged.

3) Short circuit in motor cable between phase to phase or phase to

ground.

4) The DC link voltage may be too low.

5) The incoming mains voltage is not within specification.

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154 3HAC020738-001 Revision: K

Recommended actions

1) Verify that the motor data in the configuration file is correct for

this joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Verify that the motor cables are not damaged or badly connected.

3) Verify that the motor cables has no short circuits internally or to

ground.

4) Verify that no DC link errors are present in the event log.

5) Verify that the incoming mains voltage is within the specification.

34304, Motor current warning

Description

For joint arg, the current controller detected a too large current

deviation for the motor. The joint is connected to drive module arg in

the drive unit at unit position arg and node arg.

Consequences

Operation will be possible but system is close to a stopping error.

Probable causes

1) The motor data in the configuration files may be wrong.

2) The motor cables are not correctly connected or damaged.

3) Short circuit in motor cable between phase to phase or phase to

ground.

4) The DC link voltage may be too low.

5) The incoming mains voltage is not within specification.

Recommended actions

1) Verify that the motor data in the configuration file is correct for

this joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Verify that the motor cables are not damaged or badly connected.

3) Verify that the motor cables has no short circuits internally or to

ground.

4) Verify that no DC link errors are present in the event log.

5) Verify that the incoming mains voltage is within the specification.

34306, Drive unit temperature error

Description

The drive unit for joint arg has reached a too high temperature level.

The joint is connected to drive module arg with the drive unit at unit

position arg and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

1) The cooling fans may be faulty or the air flow may be obstructed.

2) The cooling fins are covered by dust reducing the cooling effect.

3) The ambient temperature may be too high.

4) The joint may be running with a too high torque for extended

periods of time.

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Clean the cooling fins.

3) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

5) Reduce the static torque due to gravity or external forces.

34307, Drive unit temperature warning

Description

The drive unit for joint arg is approaching a too high temperature

level. The joint is connected to drive module arg with the drive unit at

unit position arg and node arg.

Consequences

It is possible to continue but the margin to maximum allowed

temperature is too low to sustain long term operation.

Probable causes

1) The cooling fans may be faulty or the air flow may be obstructed.

2) The cooling fins are covered by dust reducing the cooling effect.

3) The ambient temperature may be too high.

4) The joint may be running with a too high torque for extended

periods of time.

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Clean the cooling fins.

3) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

5) Reduce the static torque due to gravity or external forces.

34308, Drive unit critical temperature error

Description

The drive unit for joint arg has reached a critical high temperature

level. The joint is connected to drive module arg with the drive unit at

unit position arg and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

1) The cooling fans may be faulty or the air flow may be obstructed.

2) The cooling fins are covered by dust reducing the cooling effect.

3) The ambient temperature may be too high.

4) The joint may be running with a too high torque for extended

periods of time.

6 Trouble shooting by Event log

1553HAC020738-001 Revision: K

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Clean the cooling fins.

3) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

5) Reduce the static torque due to gravity or external forces.

34309, Drive transistor current too high

Description

The drive unit transistor current is too high for joint arg. The joint

is connected to drive module arg with the drive unit at unit position arg

and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

1) The motor configuration is incorrect.

2) The axis load may be too high or the motor may have stalled (maybe

due to a collision).

3) Short circuit between motor phases or ground.

Recommended actions

1) Check that the motor configuration is correct.

2) Check that the robot has not collided.

3) If possible, reduce the speed of the user program.

4) Check that the axis load is not too high for the drive unit.

5) Check the motor cable and motor by measuring their resistance

respectively. Disconnect before measuring.

34311, Drive inverter saturated warning

Description

The drive unit for joint arg has reached maximum output voltage.

The joint is connected to drive module arg with the drive unit at unit

position arg and node arg.

Consequences

Operation will be possible but system is close to a stopping error.

Probable causes

1) The motor is not properly connected to the drive unit.

2) The motor data in the configuration is not correct.

3) The DC link voltage is too low.

4) Short circuit between motor phases or ground.

Recommended actions

1) Check motor cables and connectors.

2) Check configuration of motor parameters.

3) Check for other hardware eventlog messages.

4) Check incoming mains voltage to the rectifier unit.

5) Check the motor cable and motor by measuring their resistance

respectively. Disconnect before measuring.

34312, Missing drive unit

Description

For joint arg, the system cannot find configured drive unit. The

joint is configured for drive module arg, in the drive unit at unit

position arg.

Consequences

The system goes to System Failure state.

Probable causes

A joint is configured but drive unit is not found.

Recommended actions

1) Verify that the drive module contains the drive unit for the

configured joint.

2) Verify that the configuration for the drive unit position is correct.

3) Verify that the cables between drive units are correctly inserted in

the correct connector position.

4) If the cable is correctly connected, then it may be damaged and

should be replaced.

5) Check the event log for power supply unit error messages.

6) Check the cabling between the power supply unit and the drive unit.

7) Check the 24V output from the power supply unit.

34313, Wrong type of drive unit

Description

In drive module arg, the hardware identity for drive unit at unit

position arg is different from the one specified in the configuration.

Installed drive unit hardware identity is arg, and the configured

identity is arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to System Failure state.

Probable causes

The drive unit type does not match the one specified in the installation

key.

Recommended actions

1) Verify that the drive unit positions are correct, i.e., the Ethernet

cables are correctly connected.

2) Verify that the drive module key match the installed hardware.

3) Replace the drive unit with the one specified in the drive module

key.

34314, Missing drive unit node

Description

For joint arg, the drive unit does not support the node number

configured. The joint is configured for drive module arg, in the drive

unit at unit position arg with node arg.

6 Trouble shooting by Event log

156 3HAC020738-001 Revision: K

Consequences

The system goes to System Failure state.

Probable causes

The configured drive unit node is not supported for the configured

type of drive unit.

Recommended actions

Check the drive unit node number in the configuration.

34316, Motor current error

Description

For joint arg, the current controller detected a too large torque current

deviation for the motor. The joint is connected to drive module arg in

the drive unit at unit position arg and node arg.

Consequences

The system goes to Motors Off state.

Probable causes

1) The motor data in the configuration files may be wrong.

2) The motor cables are not correctly connected or damaged.

3) Short circuit in motor cable between phase to phase or phase to

ground.

4) The DC link voltage may be too low.

5) The incoming mains voltage is not within specification.

Recommended actions

1) Verify that the motor data in the configuration file is correct for

this joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Verify that the motor cables are not damaged or badly connected.

3) Verify that the motor cables has no short circuits internally or to

ground.

4) Verify that no DC link errors are present in the event log.

5) Verify that the incoming mains voltage is within the specification.

34317, Motor current error

Description

For joint arg, the current controller detected a too large current

deviation for the motor. The joint is connected to drive module arg in

the drive unit at unit position arg and node arg.

Consequences

The system goes to Motors Off state.

Probable causes

1) The motor data in the configuration files may be wrong.

2) The motor cables are not correctly connected or damaged.

3) Short circuit in motor cable between phase to phase or phase to

ground.

4) The DC link voltage may be too low.

5) The incoming mains voltage is not within specification.

Recommended actions

1) Verify that the motor data in the configuration file is correct for this

joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Verify that the motor cables are not damaged or badly connected.

3) Verify that the motor cables has no short circuits internally or to

ground.

4) Verify that no DC link errors are present in the event log.

5) Verify that the incoming mains voltage is within the specification.

34318, Drive inverter saturated error

Description

The drive unit for joint arg has reached maximum output voltage. The

joint is connected to drive module arg with the drive unit at unit

position arg and node arg.

Consequences

The system goes to Motors Off state

Probable causes

1) The motor is not properly connected to the drive unit.

2) The motor data in the configuration is not correct.

3) The DC link voltage is too low.

4) Short circuit between motor phases or ground.

Recommended actions

1) Check motor cables and connectors.

2) Check configuration of motor parameters.

3) Check for other hardware eventlog messages.

4) Check incoming mains voltage to the rectifier unit.

5) Check the motor cable and motor by measuring their resistance

respectively. Disconnect before measuring.

34319, Drive unit critical error

Description

The drive unit for joint arg gives an unspecified error, but is likely

due to over temperature or short circuit. The joint is connected to drive

module arg with the drive unit at unit position arg and node arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

1) The cooling fans may be faulty or the air flow may be

obstructed.

2) The cooling fins are covered by dust reducing the cooling effect.

3) The ambient temperature may be too high.

4) The joint may be running with a too high torque for extended

periods of time.

5) Short circuit in cables or connectors between the phases or to

ground.

6) Short circuit in motor between the phases or to ground.

6 Trouble shooting by Event log

1573HAC020738-001 Revision: K

Recommended actions

1) Verify that the fans are running and that the air flow is not

obstructed.

2) Clean the cooling fins.

3) Verify that the ambient temperature does not exceed the cabinet's

temperature rating.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

5) Reduce the static torque due to gravity or external forces.

6) Check/replace cables and connectors.

7) Check/replace motor.

34320, Too many drive nodes connected

Description

In drive module arg the system has detected more drive nodes than the

system can handle. The limit was reached when drive unit at unit

position arg was detected.

Consequences

No operation will be possible until the fault is corrected. The system

goes to System Failure state.

Probable causes

1) Too many drive units is connected to the drive unit communication

link.

2) Too many drive unit that are equippted with many drive nodes are

connected.

Recommended actions

1) Verify that the proper drive units types are connected to the drive

unit communication link.

2) Disconnect unused drive unit(s).

34400, DC link voltage too high

Description

In drive module arg, the drive unit at unit position arg has a DC

link voltage that is too high.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

WARNING HIGH VOLTAGE: THE DC LINK MAY BE

DISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)

WHEN THE SYSTEM IS POWERED OFF.

Probable causes

1) The bleeder resistor is not connected or faulty.

2) The user program may contain too much deceleration of the

manipulator's axes. This fault is more likely if the system contains

additional axes.

Recommended actions

WARNING HIGH VOLTAGE CAN BE PRESENT.

1) Make sure the bleeder resistor cable is properly connected to the

rectifier unit.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Rewrite the user program to reduce the amount of hard

decelerations.

34401, DC link voltage too low warning

Description

In drive module arg, the drive unit at unit position arg has a DC link

voltage that is close to minimum limit.

Consequences

Operation will be possible but the system is close to a stopping error.

Probable causes

The incoming mains voltage to the rectifier unit is out of specification.

Recommended actions

1) Check for other hardware eventlog messages regarding mains

voltage problem.

2) Check incoming mains voltage.

3) Check that the correct voltage is selected with jumpers on the

transformer (optional).

4) Check all internal 3-phase components (main switch, mains filter,

fuse, contactors) and cabling in the drive module.

34402, DC link voltage too low

Description

In drive module arg, the DC link voltage is too low for the drive

unit at unit position arg.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state.

Probable causes

The incoming mains voltage to the rectifier unit is out of specification.

Recommended actions

1) Check for other hardware eventlog messages regarding mains

voltage problem.

2) Check incoming mains voltage.

3) Check that the correct voltage is selected with jumpers on the

transformer (optional).

4) Check all internal 3-phase components (main switch, mains filter,

fuse, contactors) and cabling in the drive module.

34404, DC link voltage is critically high

Description

In drive module arg, the drive unit at unit position arg has a DC

link voltage that is critically high.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

6 Trouble shooting by Event log

158 3HAC020738-001 Revision: K

WARNING HIGH VOLTAGE: THE DC LINK MAY BE

DISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)

WHEN THE SYSTEM IS POWERED OFF.

Probable causes

1) The bleeder resistor is not connected or faulty.

2) The user program may contain too much deceleration of the

manipulator's axes. This fault is more likely if the system contains

additional axes.

Recommended actions

WARNING HIGH VOLTAGE CAN BE PRESENT.

1) Make sure the bleeder resistor cable is properly connected to the

rectifier unit.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Rewrite the user program to reduce the amount of hard

decelerations.

34405, DC link voltage too high warning

Description

In drive module arg, the drive unit at unit position arg has a DC

link voltage that is close to maximum limit.

Consequences

Operation will be possible but the system is close to a stopping error.

WARNING HIGH VOLTAGE: THE DC LINK MAY BE

DISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)

WHEN THE SYSTEM IS POWERED OFF.

Probable causes

1) The bleeder resistor is not connected or faulty.

2) The user program may contain too much deceleration of the

manipulator's axes. This fault is more likely if the system contains

additional axes.

Recommended actions

WARNING HIGH VOLTAGE CAN BE PRESENT.

1) Make sure the bleeder resistor cable is properly connected to the

rectifier unit.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Rewrite the user program to reduce the amount of hard

decelerations.

34406, Drive unit power supply error

Description

In drive module arg, the drive unit with unit position arg has

detected problem with the logic power.

Consequences

No operation will be possible until the fault is corrected. The system

goes to Motors Off state with zero torque.

Probable causes

The 24V logic supply to the drive is temporary or constantly lost.

Recommended actions

1) Check the event log for power supply unit error messages.

2) Check the cabling between the power supply unit and the drive unit.

3) Check the 24V output from the power supply unit.

34407, Drive unit internal error

Description

In drive module arg, the drive unit at unit position arg has indicated an

internal error.

Consequences

The system goes to System Failure state with zero torque.

Probable causes

An internal error has occurred in the drive unit firmware.

Recommended actions

Restart the system by using the main power switch.

34408, Drive unit hardware data error

Description

In drive module arg, the drive unit at unit position arg has corrupt

information stored on the unit.

Consequences

The system goes to System Failure state.

Probable causes

The integrity check of the drive unit information stored on the drive

unit has failed.

Recommended actions

1) Retry again by restarting the system using the main power switch.

2) Replace the faulty drive unit.

34409, Drive unit startup error

Description

The system has failed to complete the initialization phase of a drive

unit. The drive unit is located in drive module arg at unit position arg.

Consequences

The system goes to System Failure state.

Probable causes

The system has failed to complete the initialization phase of the drive

unit.

Recommended actions

1) Retry by restarting the system using the main power switch.

2) Check for other hardware eventlog messages.

6 Trouble shooting by Event log

1593HAC020738-001 Revision: K

34410, Too many drive units connected

Description

In drive module arg the system has detected more drive units than the

system can handle. The maximum number of drive units supported is

arg, but arg was detected.

Consequences

No operation will be possible until the fault is corrected. The system

goes to System Failure state.

Probable causes

1) Too many drive unit that are connected.

Recommended actions

1) Disconnect unused drive unit(s).

37001, Motors ON contactor activation error

Description

Motors ON contactor arg in drive module arg failed to close when

ordered.

Consequences

The mechanical unit can not be run manually or automatically.

Probable causes

1) The runchain for the contactor is open.

2) There are problems in the contactor itself, either mechanical or

electrical.

3) The teach pendant enabling device may have been toggled too

quickly, or the system may not be configured correctly. On rare

occasions, this fault may occur in combination with other faults, in

which case this may be found in the error log.

Recommended actions

1) To resume normal operation, first acknowledge the error, then

release the enabling device and press it again after approx. one second.

2) Check cables and connections on the Safety System.

3) Check any other error log messages coinciding in time with this one

for clues.

4) Check the system motion configuration regarding Motors ON relay.

How to check the configuration file is detailed in the Trouble Shooting

Manual.

37043, Safety signals overloaded

Description

The AC_ON or SPEED signals draw too much current.

Consequences

The Safety System shuts down the signals, causing the system to go to

either status SYS FAIL (for AC_ON) or status SYS HALT (for

SPEED).

Probable causes

A load connected to the circuit may be too high, or the Safety System

may be malfunctioning. See the Circuit Diagram!

Recommended actions

1) Check all loads connected to the AC_ON and SPEED circuits

2) Check the Safety System cabling and connectors, and replace any

faulty unit if required.

37044, Overload on Panel Board digital output

signals

Description

The Panel Board User Digital outputs draw too much current.

Consequences

The Panel Board shuts down the signals, causing the system to go to

status SYS HALT.

Probable causes

A load connected to the circuit may be too high, or the Panel Board

may be malfunctioning. See the Circuit Diagram!

Recommended actions

1) Check all loads connected to the User Digital outputs

2) Check the Panel Board cabling and connectors, and replace any

faulty unit if required.

37045, Faulty External Computer fan

Description

The External Computer fan in the Control Module spins too slowly.

Consequences

No system consequence. The Control Module temperature will rise.

Probable causes

Faulty fan, cabling or power supply. See the Circuit Diagram!

Recommended actions

1) Check the cabling to the External Computer fan.

2) Check the fan, and replace any faulty unit if required.

37046, Safety signals overloaded

Description

The 24 V PANEL supply draws too much current.

Consequences

The Safety System shuts down the signal, causing the system to go to

status SYS HALT.

Probable causes

A load connected to the circuit may be too high, or the Safety System

unit may be malfunctioning. See the Circuit Diagram!

Recommended actions

1) Check all loads connected to the 24V PANEL circuit.

2) Check cabling on the Safety System.

6 Trouble shooting by Event log

160 3HAC020738-001 Revision: K

37049, Activation contactor activation error

Description

The activation relay for mechanical unit arg failed to close.

Consequences

The mechanical unit can not be run manually or automatically.

Probable causes

The activation relay configured within the system may be faulty, or the

system may not be configured correctly.

Recommended actions

1) Check the contactor and make sure its connections are connected

correctly.

2) Check the system motion configuration regarding the activation

relay. How to check the configuration file is detailed in the Trouble

Shooting Manual.

37050, Overtemperature in main computer

Description

The temperature in the main computer unit or the main computer

processor is too high.

Consequences

The system might get damaged.

Probable causes

The unit may be overloaded, its fans may be malfunctioning or the air

flow may be restricted.

Recommended actions

1) Make sure the fans are operating.

2) Check that air flow to the unit fans is not restricted.

37053, Low CMOS battery voltage level

Description

The CMOS battery on the computer board is empty.

Consequences

On restart, the system will use an erroneous setup or no restart will be

possible.

Probable causes

Faulty battery.

Recommended actions

1. Replace the CMOS battery

37054, Faulty Computer Unit fan

Description

The fans in the Computer Unit spin too slowly.

Consequences

No system consequence. The Computer Unit temperature will rise.

Probable causes

Faulty fan, cabling or power supply. See the Circuit Diagram!

Recommended actions

1) Check the cabling to the Computer Unit fan.

2) Check the fan.

3) Check the fan power supply.

4) Replace the faulty component if required.

37056, Cooling fan error

Description

Cooling unit fan has stopped or is rotating very slowly (Less than arg

rpm).

Recommended actions

1. Check the fan cables.

2. Replace the fan.

37062, Computer Module power supply warning

Description

The arg V voltage of the Computer Module power supply is arg V,

which is out of the allowed range.

Consequences

Probable causes

The power supply unit, cabling, input voltage to the power supply or

the output load may cause the faulty voltage level. See the Trouble

Shooting Manual and Circuit Diagram!

Recommended actions

1) Check all cabling to the power supply unit.

2) Measure the output and input voltage levels.

3) Replace the faulty unit if required.

37069, Faulty backup Power Supply

Description

The backup energy bank in the Control Module supplying the backup

voltage is faulty.

Consequences

After switching the power off, a B type restart must be performed. No

system data changes will be saved at power off.

Probable causes

This may be caused by a faulty backup energy bank, cabling or charger.

Recommended actions

Do not turn the main power off until battery has been charged, or the

system may perform a cold start!

1) Check the backup energy bank cabling and connectors.

2) Check the backup energy bank.

3) Check the power supply.

6 Trouble shooting by Event log

1613HAC020738-001 Revision: K

4) Replace the faulty unit if required.

37070, Overtemp in Control Module Power

Supply

Description

The temperature in the control module power supply is too high.

Consequences

The system is shut down immediately.

Probable causes

This may be caused by poor cooling, too high a load on the power

supply or by a faulty power supply.

Recommended actions

1) Check the cooling fan.

2) Check the output power.

3) Replace any faulty unit if required.

37074, Purge pressure too low

Description

Purge system number arg assosiated with Manipulator Interface Board

(MIB) arg.

Recommended actions

Check the purge air supply and search for leaks in:

1. The purge unit.

2. The flexible hose conduit.

3. The manipulator itself.

37075, Purge pressure too high

Description

Purge system number arg assosiated with Manipulator Interface Board

(MIB) arg.

Recommended actions

Check the purge unit and the air supply.

37076, Unexpected low purge flow

Description

Purge system number arg assosiated with Manipulator Interface Board

(MIB) arg.

Recommended actions

Check the purge unit and the air supply. Search for leaks in the purge

system.

37077, Unexpected high purge flow

Description

Purge system number arg assosiated with Manipulator Interface Board

(MIB) arg.

Recommended actions

Check the purge unit and the air supply.

37078, Purge timers differ

Description

Unacceptable divergence between Process Interface Board (PIB) and

Manipulator Interface Board (MIB) arg purge timers.

Consequences

The purge timer will be restarted.

Recommended actions

1. Check Serial Peripheral Interface (SPI) cables.

2. Replace MIB if faulty.

3. Replace PIB if faulty.

37080, Purge configuration not valid.

Description

The Purge Time Key on Manipulator Interface Board (MIB) arg X19

is not valid.

Consequences

Default time (300s) is used.

Probable causes

Faulty or missing Purge Time Key.

Recommended actions

1. Check that the Purge Time Key is correctly mounted.

2. Replace Purge Time Key.

37081, Purge timers differ

Description

Unacceptable divergence between CPLD and FPGA firmware on

Manipulator Interface Board (MIB) arg purge timers.

Consequences

The purge timer will be restarted.

Recommended actions

Replace MIB if faulty.

37082, Divergence between PIB and MIB

outputs

Description

Process Interface Board (PIB) and Manipulator Interface Board (MIB)

arg are not agreed concerned to output status for purge relay and power

relay.

Consequences

Purge sequence is restarted.

6 Trouble shooting by Event log

162 3HAC020738-001 Revision: K

37090, Temp. too high, sensor arg

Description

System overheat detected. Sensors 1-7: motor 1-7, sensor 8: Serial

measurement board. Run chain has been opened.

Recommended actions

37094, Activate connection error

Description

Could not activate arg. Connection relay input arg indicates no

connection.

Recommended actions

1. Check that if mechanical unit is connected.

2. Check the connection relay input signal setup.

37095, Brake power fault

Description

The supervision of brake power on Manipulator Controller Board

(MCOB) has detected fault on the power signal and turned ON all

brakes.

Recommended actions

1. Check brake power on MCOB.

2. Check brake power relay in cabinet.

3. Check for disturbances on the brake power signal on MCOB/MCB.

4. Check for short circuit on brakes.

37096, Brake power fault

Description

The supervision of brake power on Manipulator Controller Board

(MCOB/MCB) has detected fault on the power signal and turned ON

all brakes.

Recommended actions

1. Check brake power on MCOB/MCB.

2. Check brake power relay in cabinet.

3. Check for disturbances on the brake power signal on MCOB/MCB.

37097, Brake short circuit fault

Description

The supervision of brakes on Manipulator Controller Board (MCOB/

MCB) has detected a short circuit on axis arg and turned ON all brakes.

Recommended actions

1. Check for short circuit on brakes.

37098, Brake open circuit fault

Description

The supervision of brakes on Manipulator Controller Board (MCOB/

MCB) has detected an open circuit on axis arg and turned ON all

brakes.

Recommended actions

1. Check for open circuit on brakes.

37099, Temp. too high, sensor arg

Description

System overheat detected on motors, Serial measurement unit (SMU)

or process equipment. Run chain has been opened.

Recommended actions

Sensors 1-8: Robot motors 1-8

Sensor 9: SMU

Sensors 10-14: Process 1-5

Please refer to current robot config. for more details.

37100, I/O node flash disk error

Description

Flash name: arg

Flash disk function: arg

Error description: arg

Recommended actions

Report error.

37101, Brake Failure

Description

The brakes for mechanical unit arg fail to engage.

Consequences

The mechanical unit may collapse when the motors are turned off.

Probable causes

The configuration of brake relay may be incorrect, or the brake relay

may be faulty If an external brake relay is being used, the relay must

be correctly defined in the motion configuration file.

Recommended actions

1) Check that the external brake relay (if used) is correctly defined in

the configuration file.

2) Check that the corresponding I/O signal is correctly defined in the

I/O configuration file. How to check the configuration files is detailed

in the Trouble Shooting Manual.

6 Trouble shooting by Event log

1633HAC020738-001 Revision: K

37102, Power supply warning, faulty 24V COOL

level

Description

The 24V COOL output of the Control Module Power Supply is out of

range.

Consequences

No system consequence.

Probable causes

The Control Module Power Supply unit cabling or the output load may

cause the faulty voltage level. The power supplies are shown in the

Trouble Shooting Manual and the Circuit Diagram!

Recommended actions

1) Check all cabling to the Control Module Power Supply unit.

2) Check the output voltage level, and replace any faulty unit if

required.

37103, Power supply warning, faulty 24V SYS

level

Description

The 24V SYS output of the Control Module Power Supply is out of

range.

Consequences

No system consequence.

Probable causes

The Control Module Power Supply unit, cabling or the output load

may cause the faulty voltage level. The power supplies are shown in

the Trouble Shooting Manual and the Circuit Diagram!

Recommended actions

1) Check all cabling to the Control Module Power Supply unit.

2) Check the output voltage level, and replace any faulty unit if

required.

37104, There is no backup voltage available!

Description

The backup energy bank maintaining the backup voltage is not

functional.

Consequences

After switching the power off, a B type restart must be performed. No

system data changes will be saved at power off.

Probable causes

This may be caused by a faulty backup energy bank, cabling or charger.

Recommended actions

Before working on the system, perform a controlled shutdown to

ensure all system data is correctly saved.

1) Check the cables and connectors of the backup energy bank.

2) Check the backup energy bank.

3) Check the power supply.

4) Replace the faulty unit if required.

37105, Regained communication with Power

Supply

Description

The main computer has regained communication with the Control

Module Power Supply.

37106, Low backup energy bank voltage level

Description

The voltage in the computer unit backup energy bank is too low to be

functional.

Consequences

No system consequence. No system data changes will be saved at

power off.

Probable causes

This may be caused by a faulty backup energy bank, cabling or charger.

Recommended actions

Before working on the system, perform a controlled shutdown to

ensure all system data is correctly saved.

1) Check the cables and connectors of the backup energy bank.

2) Check the backup energy bank.

3) Check the power supply.

4) Replace the faulty unit if required.

37107, Faulty backup energy bank

Description

The backup energy bank in the Control Module maintaining the

backup voltage is not functional.

Consequences

If switching the power off, a B type restart must be performed. No

backup will be made at power off.

Probable causes

This may be caused by a faulty backup energy bank, cabling or charger.

Recommended actions

Before working on the system, perform a controlled shutdown to

ensure all system data is correctly saved.

1) Check the backup energy bank cable and connector.

2) Check the backup energy bank.

3) Replace the faulty unit if required.

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164 3HAC020738-001 Revision: K

37108, Lost communication: Power Supply and

Computer

Description

The main computer has lost communication with the Control Module

Power Supply.

Consequences

The main computer cannot retrieve status info or switch the power

supply off. No system data changes will be saved at power off.

Probable causes

The USB cable from the main computer to the Control Module Power

Supply may be faulty or disconnected, or the power supply may be

faulty.

Recommended actions

Before working on the system, perform a controlled shutdown to

ensure all system data is correctly saved.

1) Check the cabling and connectors to the Control Module Power

Supply.

2) Check the power supply unit, and replace any faulty unit if required.

37200, Power fault: Emergency Stop supply

Description

Power fault on 24V Emergency Stop supply. Feedback from Safety

Interface Board (SIB).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37201, Power fault: 24V Failsafe supply

Description

Power fault on 24V Failsafe supply. Feedback from Safety Interface

Board (SIB).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37202, Power fault: 24V I/O supply

Description

Power fault on 24V I/O supply. Feedback from Safety Interface Board

(SIB).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37203, Power fault: 24V SYS supply

Description

Power fault reported when 24V SYS < 18V. Feedback from

Manipulator Interface Board (MIB) arg.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37204, Power fault: 24V I/O supply

Description

Power fault reported when 24V I/O < 18V. Feedback from Manipulator

Interface Board (MIB) arg.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37205, Power fault: 12V Purge supply

Description

Power fault reported when 12V Purge < 10.8V. Feedback from

Manipulator Interface Board (MIB) arg.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

37206, Power fault: 12V TPU supply

Description

Power fault on 12V Teach Pendant Unit (TPU) supply. Feedback from

Pendant Interface Board (TIB).

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check power supply.

6 Trouble shooting by Event log

1653HAC020738-001 Revision: K

37207, Battery charge low.

Description

Less than 2 months until the battery backup to Serial Measurement

Board (SMB) is discharged. Counting from first time this message was

displayed. The battery is mounted on Manipulator Interface Board

(MIB).

Recommended actions

Replace battery mounted on MIB.

37208, Overtemperature in transformer

Description

The temperature in the transformer is too high.

Consequences

The system goes to status SYS HALT.

Probable causes

The unit may be overloaded, its fans may be malfunctioning or the air

flow may be restricted.

Recommended actions

1) Make sure the fans are operating.

2) Check that air flow to the unit fans is not restricted.

37209, Overtemperature in cabinet

Description

The temperature in the cabinet is too high.

Consequences

The system goes to status SYS HALT.

Probable causes

The unit may be overloaded, its fans may be malfunctioning or the air

flow may be restricted.

Recommended actions

1) Make sure the fans are operating.

2) Check that air flow to the unit fans is not restricted.

37210, Fault on contactor KM1

Description

A fault is observed on motor contactor KM1.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check contactor.

37211, Fault on contactor KM2

Description

A fault is observed on motor contactor KM2.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check contactor.

37212, Fault on contactor KM101

Description

A fault is observed on motor contactor KM101.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check contactor.

37213, Fault on contactor KM102

Description

A fault is observed on motor contactor KM102.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Check contactor.

37214, Run chain 1 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Run chain 1 feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37215, Run chain 2 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Run chain 2 feedback signals.

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166 3HAC020738-001 Revision: K

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37216, Brake chain 1 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Brake chain 1 feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37217, Brake chain 2 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Brake chain 2 feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37218, Cabin Interlock chain 1 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Cabin Interlock chain 1 feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37219, Cabin Interlock chain 2 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Cabin Interlock chain 2 feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37220, HV Interlock chain 1 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on High Voltage (HV) Interlock chain 1

feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37221, HV Interlock chain 2 feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on High Voltage (HV) Interlock chain 2

feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37222, System 2 Interlock chain feedback

conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on System 2 Interlock chain feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

6 Trouble shooting by Event log

1673HAC020738-001 Revision: K

37223, Main relay chain feedback conflict

Description

Safety Interface Board (SIB) and Manipulator Interface Board (MIB)

arg reports divergence on Main relay chain feedback signals.

Consequences

The system goes to status SYS HALT.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

3. Replace MIB if faulty.

37224, Cabin Interlock chain 1 conflict

Description

Divergence on Cabin Interlock chain 1 between input and output

signals on Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

37225, Cabin Interlock chain 2 conflict

Description

Divergence on Cabin Interlock chain 2 between input and output

signals on Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

37226, HV Interlock chain 1 conflict

Description

Divergence on High Voltage (HV) Interlock chain 1 between input and

output signals on Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

37227, HV Interlock chain 2 conflict

Description

Divergence on High Voltage (HV) Interlock chain 2 between input and

output signals on Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

1. Check cables and connections.

2. Replace SIB if faulty.

37228, Cabin Interlock chain conflict from SIB

Description

Only one of the two Cabin Interlock chains is opened. Reported from

Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

Replace SIB if faulty.

37229, HV Interlock chain conflict from SIB

Description

Only one of the two High Voltage (HV) Interlock chains is opened.

Reported from Safety Interface Board (SIB).

Consequences

Paint enable chain opens.

Recommended actions

Replace SIB if faulty.

37230, Brake Performance Warning

Description

The Cyclic Brake Check indicates that the brake for the mechanical

unit arg axis no arg has not full braking torque.

Consequences

This is only a warning and no immediate action need to be taken.

37231, Brake Performance Error

Description

The Cyclic Brake Check has found that the brake for the mechanical

unit arg axis no arg has too low braking torque.

This brake will not be approved by the Safety Controller for Drive

Module no arg.

Consequences

WARNING: The brake performance is too low for this axis.

6 Trouble shooting by Event log

168 3HAC020738-001 Revision: K

Until the brake has approved braking torque, it is only possible to move

the robot with the specified "Reduced max speed (mm/s)" according

to the setup in the Configurator for Cylic Brake Check.

Recommended actions

1) Run the Cycle Brake Check once more.

2) Exchange the motor with its brake.

37232, Cyclic Brake Check Configuration Error

Description

The Cyclic Brake Check has found that the brake for the mechanical

unit arg axis no arg has no defined brake torque requirement level.

Consequences

The Cyclic Brake Check will continue but no valid brake check will be

done for this axis.

Probable causes

The motion configuration data are not correct specified for this axis.

Recommended actions

The motion configuration data are not correct specified for this axis:

1) Specify a value for parameter max_static_arm_torque if axis shell

be tested.

2) Deactivate Cyclic Brake Check in motion configuration if axis not

to be tested.

37233, Cyclic Brake Check Configuration Error

Description

The Cyclic Brake Check has found that the brake for the mechanical

unit arg axis no arg should be tested according to the configuration.

But the actual mechanical unit can not be included in the Safety

Controller, because activation/deactivation at runtime is allowed.

Consequences

The Cyclic Brake Check will continue with other mechanical units.

Probable causes

The motion configuration data are not correct specified for this axis.

Recommended actions

The motion configuration data are not correct specified for this axis:

1) Cyclic Brake Check has been specified but should not be done for

this axis

2) The mechanical unit must be active at startup and deactivation must

not be allowed

37240, Cabin Interlock chain conflict from MIB

Description

Only one of the two cabin interlock chains is opened. Reported from

Manipulator Interface Board (MIB) arg.

Consequences

Paint enable chain opens.

Recommended actions

Replace MIB if faulty.

37241, HV Interlock chain conflict from MIB

Description

Only one of the two High Voltage (HV) chains is opened. Reported

from Manipulator Interface Board (MIB) arg.

Consequences

Paint enable chain opens.

Recommended actions

Replace MIB if faulty.

37242, Run chain conflict from SIB

Description

Only one of the two run chain feedback signals from Safety Interface

Board (SIB) was opened.

Consequences

The system goes to status SYS HALT.

Recommended actions

Replace SIB if faulty.

37243, Brake chain conflict from SIB

Description

Only one of the two brake chain signals from Safety Interface Board

(SIB) was opened.

Consequences

The system goes to status SYS HALT.

Recommended actions

Replace SIB if faulty.

37244, Run chain conflict from MIB arg

Description

Only one of the two run chain feedback signals from Manipulator

Interface Board (MIB) was opened.

Consequences

The system goes to status SYS HALT.

Recommended actions

Replace MIB if faulty.

37245, Brake chain conflict from MIB arg

Description

Only one of the two brake chain feedback signals from Manipulator

Interface Board (MIB) was opened.

6 Trouble shooting by Event log

1693HAC020738-001 Revision: K

Consequences

The system goes to status SYS HALT.

Recommended actions

Replace MIB if faulty.

37246, Emergency Stop relay conflict

Description

Only one of the two Emergency Stop chains was opened internal on

Safety Interface Board (SIB).

Consequences

The system remains in the Emergency Stop status.

Recommended actions

1. Press emergency stop and reset emergency stop once again.

2. Replace SIB if faulty.

37247, Circulation Fan arg malfunction

Description

Circulation fan for the drive systems at the cabinet rear side has

stopped or is rotating very slowly.

Consequences

The drive systems temperature will rise.

Probable causes

Faulty fan, cabling or power supply. See the Circuit Diagram!

Recommended actions

1. Check the fan cables.

2. Check the power supply.

3. Check the fan.

37248, Circulation Fan arg malfunction

Description

Circulation fan in the cabinet front door has stopped or is rotating very

slowly.

Consequences

The temperature in the cabinet will rise.

Probable causes

Faulty fan, cabling or power supply. See the Circuit Diagram!

Recommended actions

1. Check the fan cables.

2. Check the power supply.

3. Check the fan.

37501, Filesystem unknown: USB Device

Description

The filesystem type on the USB device with logical unit arg is not

supported.

Consequences

The USB device with the logical unit arg cannot be accessed. The

filesystem is of type arg. The file(s) on the USB device with logical

number arg will not be accessible.

Probable causes

The filesystem is formatted with an unsupported file system type.

Recommended actions

Format the USB device with the FAT32 filesystem.

37502, Mass storage device removed

Description

The mass storage device was removed.

Consequences

The system goes to sys fail. The filesystem on the mass storage device

could be corrupt. The file(s) on the mass storage device could be

corrupt. The file(s) on the mass storage device will not be accessible.

Probable causes

The mass storage device was removed or there was a malfunction of

the mass storage device.

Recommended actions

Check that the mass storage device firmly is in place. If the problem

persists, try with another device.

38100, Configuration failure

Description

Drive Module has detected configuration failure at measurement link.

Drive module: arg

Measurement link: arg

Board node: arg

Recommended actions

- Check configuration for measurement link.

- Check configuration for measurement board.

- Check configuration for measurement nodes.

38101, SMB Communication Failure

Description

A transmission failure has been detected between the axis computer

and the serial measurement board on measurement link arg in Drive

Module arg.

Consequences

The system goes to status SYS FAIL and loses its calibration

information.

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170 3HAC020738-001 Revision: K

Probable causes

This may be caused by bad connections or cables (screening),

especially if non-ABB cables are used for additional axes. Possible

causes are also faulty serial measurement board or axis computer.

Recommended actions

1) Reset the robot's revolution counters as detailed in the robot Product

Manual.

2) Make sure the cable between serial measurement board and axis

computer is connected correctly, and that it meets the specification set

by ABB.

3) Make sure the cable screen is correctly connected at both ends.

4) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

5) Make sure the serial measurement board and axis computer are fully

functional. Replace any faulty unit.

38102, Internal failure

Description

The measurement system has detected a hardware or software fault on

measurement link arg in Drive Module arg.

Consequences

The system goes to status SYS HALT and loses its calibration

information.

Probable causes

This may be caused by some temporary disturbance in the robot cell or

by a faulty axis computer.

Recommended actions

1) Restart the system.

2) Reset the robot's revolution counters as detailed in the robot Product

Manual.

3) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

4) Make sure the axis computer is fully functional. Replace any faulty

unit.

38103, Lost communication with the SMB

Description

The communication has been lost between the axis computer and the

serial measurement board on measurement link arg in Drive Module

arg.

Consequences

The system goes to status SYS HALT and loses its calibration

information.

Probable causes

This may be caused by bad connections or cables (screening),

especially if non-ABB cables are used for additional axes. Possible

causes are also faulty serial measurement board or axis computer.

Recommended actions

1) Reset the robot's revolution counters as detailed in the robot Product

Manual.

2) Make sure the cable between serial measurement board and axis

computer is connected correctly, and that it meets the specification set

by ABB.

3) Make sure the cable screen is correctly connected at both ends.

4) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

5) Make sure the serial measurement board and axis computer are fully

functional. Replace any faulty unit.

38104, Overspeed During Teach Mode

Description

One or more axes of the robot connected to drive module arg has

exceeded the maximum speed for teach mode operation.

Consequences

The system goes to status SYS HALT.

Probable causes

The robot may have been moved manually while in state Motors OFF.

The error may also be caused by a misadjustment in the relation,

commutation, between motor shaft and resolver on an additional axis,

primarily during installation.

Recommended actions

1) Press the Enabling Device to attempt resuming operation.

2) Check other event log messages occuring at the same time to

determine the actual cause.

3) Perform a re-commutation of the motor at hand. How to do this is

specified in the Additional Axes Manual.

38105, Data not found.

Description

Configuration data for measurement board not found.

System will use default data.

Drive module: arg

Measurement link: arg

Board node: arg

Recommended actions

Check configuration.

38200, Battery backup lost

Description

The battery backup to serial measurement board (SMB) arg in the

robot connected to drive module arg on measurement link arg has

been lost.

Consequences

When the SMB battery power supply is interrupted, the robot will lose

the revolution counter data. This warning will also repeatedly be

logged.

6 Trouble shooting by Event log

1713HAC020738-001 Revision: K

Probable causes

This may be due to an SMB battery that is discharged or not connected.

For some robot models, the SMB battery power is supplied through a

jumper in the robot signal cable (refer to the IRC5 Circuit Diagram),

and disconnecting the cable interrupts the battery power supply. Some

earlier robot versions used rechargeable batteries, and these must be

charged for at least 18 hrs before working correctly.

Recommended actions

1) Make sure a charged SMB battery is connected to the board.

2) NOTE! Disconnecting the robot signal cable may disconnect the

SMB battery power supply, triggering the battery warning to be

logged.

3) Reset the battery power warning by updating the revolution counters

as detailed in the Calibration or Product Manual.

4) Replace the battery if discharged.

38201, Serial Board not found

Description

Serial Measurement Board not found on measurement link.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Check system configuration parameters.

- Check connections and cables to Serial Measurement Board.

- Replace Serial Measurement Board.

38203, SMB offset X error

Description

Offset error for X signal at Serial Measurement Board.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace Serial Measurement Board.

38204, SMB offset Y error

Description

Offset error for Y signal at Serial Measurement Board.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace Serial Measurement Board

38205, SMB Linearity Error

Description

Linearity error for X-Y signal difference at Serial Measurement Board.

System may still operate with warning.

System will not function with error.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace Serial Measurement Board.

38206, SMB Linearity X Error

Description

Linearity error for X signal on Serial Measurement Board.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace Serial Measurement Board.

38207, SMB Linearity Y Error

Description

Linearity error for Y signal at Serial Measurement Board.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace Serial Measurement Board.

38208, Resolver error

Description

Too high voltage from X or Y resolver signals.

Sum of squared X and Y exceeds max.

Joint: arg

Drive module: arg

Measurement link: arg

Measurement board: arg

Board node: arg

Recommended actions

- Check resolver and resolver connections.

- Replace Serial Measurement Board.

- Replace resolver.

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172 3HAC020738-001 Revision: K

38209, Resolver error

Description

Too low voltage from X or Y resolver signals.

Sum of squared X and Y too low.

Joint: arg

Drive module: arg

Measurement link: arg

Measurement board: arg

Board node: arg

Recommended actions

- Check resolver and resolver connections.

- Replace Serial Measurement Board.

- Replace resolver.

38210, Transmission fault.

Description

Serial Measurement Board SMS communication failed.

Status: arg

Drive module: arg

Measurement link: arg

Measurement board: arg

Board node: arg

Recommended actions

- Restart system.

- Check cable and connectors for SMB communication.

- Replace the Serial Measurement Board.

38211, Functionality error.

Description

The Serial Measurement Board does not support 7 axes.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Check configurations of the 7th axis.

- Replace Serial Measurement Board to a board with 7 axes

functionality.

38212, Data not found.

Description

Configuration data for Serial Measurement Board not found. System

will use default data.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Check configuration.

38213, Battery charge low.

Description

Less than 2 months until battery on Serial Measurement Board is

discharged. Counting from first time this message was displayed.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Replace battery on serial measurement.

38214, Battery failure.

Description

Transportation shut down of battery failed. The battery will still be in

normal mode.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Retry shut down.

- Replace serial measurement board.

38215, Battery supervision failure.

Description

Failure occurred during reset of battery supervision circuit in Serial

Measurement Board.

Drive module: arg

Measurement link: arg

Measurement board: arg

Recommended actions

- Repete update of revolution counter for joint connected to the SMB.

- Replace serial measurement board.

38230, PMC card not connected correctly

Description

The PMC card that is configured in the motion configuration is not

connected or is not working correctly.

Consequences

The application that needs this PMC card can not be ran.

Probable causes

The PMC card is not connected or the card is broken.

Recommended actions

Please check the PMC card that is attached to the axis computer in the

drive module arg.

6 Trouble shooting by Event log

1733HAC020738-001 Revision: K

38231, PMC card can not be started

Description

The PMC card that is configured in the motion configuration is not set

up correctly and can not be started.

Consequences

The application that uses this PMC card can not be ran.

Probable causes

The error is problably a error in the motion configuration.

Recommended actions

Please check the limits for channels for this card in the motion

configuration.

38232, PMC max channels reached

Description

The PMC card that is configured in the motion configuration is not set

up correctly and can not be started.

Consequences

The application that uses this PMC card can not be ran.

Probable causes

The error is problably a error in the motion configuration.

Recommended actions

Please check the limits for channels for this card in the motion

configuration.

38233, Force sensor safety channel error

Description

The safety channel in the cable between the force sensor and

measurment board is under configured safety channel voltage level.

The force sensor is connected to the axis computer in drive module

arg.

Consequences

The system will go to SYS HALT and the application that uses this

sensor can not be ran until cable is connected or replaced. Safety

channel supervision can be disconnected in the motion configuraion.

Probable causes

1. The cable is not attached correctly.

2. The cable has damage to the connectors or the cable itself.

3. The sensor cable does not have satefy channel.

Recommended actions

Assure that the cable is connected properlly and inspect the connectors

at both ends of the cable and the cable itself. Replace if damaged.

38234, Max Force or Torque reached

Description

The measurend force or torque in the force sensor attached to the axis

computer in drive module arg has higher value than it is configured for.

Consequences

The system will not stop due to this.

Probable causes

The appliced force or torque on the sensor is higher that configured.

Too high ordered reference can be the cause. The configuration might

also be faulty.

Recommended actions

Check the force and torque references in the program and if the

environment have applied too high force or torque to the sensor.

38235, Saturation warning of force sensor input

Description

The analog input values of the measurment board connected to the

force sensor have saturated and the time in saturation has reached the

warning level.

The measurment board is connected to the axis computer in drive

module arg

Recommended actions

Check the load that was applied to the force/torque sensor.

Check that the cable, sensor and measurment board is not damaged.

Increase the system parameter: time in satuartion before warning

38236, Saturation error of of force sensor input

Description

The analog input values of the measurment board connected to the

force sensor have saturated and the time in saturation has reached the

error level. The measurment board is connected to the axis computer

in drive module arg

Consequences

system will stop

Recommended actions

Check the load that was applied to the force/torque sensor. Check that

the cable, sensor and measurment board is not damaged. Increase the

system parameter: time in satuartion before error

38237, Configuration error for Force

Measurement Board

Description

The configuration input values for the Force Measurement Board

connected to the force sensor is erroneous. The board is connected to

drive module arg, link arg.

Consequences

The system goes to System Failure state.

6 Trouble shooting by Event log

174 3HAC020738-001 Revision: K

Recommended actions

Check the configuration.

39401, Torque Current Reference Error

Description

The torque-current reference is increasing too quickly for joint arg,

connected to drive module arg.

Consequences

Probable causes

The resolver feedback may be poor or the speed loop gain may be

badly adjusted.

Recommended actions

1) Check the resolver cable and the resolver grounding for this joint. If

this joint is an additional axis, then check that the motor data in the

configuration file is correct. How to check the configuration file is

detailed in the Trouble Shooting Manual.

2) Reduce the gain of the speed loop.

39402, Motor Angle Reference Warning

Description

The motor angle reference is increasing too quickly for joint arg,

connected to drive module arg.

Consequences

Probable causes

The resolver feedback may be poor or the speed loop gain may be

badly adjusted.

Recommended actions

1) Check the resolver cable and the resolver grounding for this joint. If

this joint is an additional axis, then check that the motor data in the

configuration file is correct. How to check the configuration file is

detailed in the Trouble Shooting Manual.

2) Reduce the gain of the speed loop.

39403, Torque Loop Undercurrent

Description

The torque-current controller detected too low current for joint arg,

connected to drive module arg.

Consequences

Probable causes

The motor data in the configuration files may be wrong or the DC bus

voltage may be too low.

Recommended actions

1) Check that the motor data in the configuration file is correct for this

joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Check that no DC bus errors are present in the event log.

3) Check that the incoming mains voltage is within the specification.

4) Check that the motor cables are not damaged or badly connected.

39404, Torque Loop Overcurrent

Description

The field-current controller detected too high current for joint arg,

connected to drive module arg.

Consequences

Probable causes

The motor data in the configuration files may be wrong.

Recommended actions

1) Check that the motor data in the configuration file is correct for this

joint. How to check the configuration file is detailed in the Trouble

Shooting Manual.

2) Check that no DC bus errors are present in the event log.

3) Check that the incoming mains voltage is within the specification.

4) Check that the motor cables are not damaged or badly connected.

39405, Maximum PWM Reached in Torque

Controller

Description

The torque-current control loop has been saturated for joint arg,

connected to drive module arg.

Consequences

Probable causes

The mains voltage may be too low or the motor windings or motor

cables may be broken.

Recommended actions

1) Check that no DC bus errors are present in the event log.

2) Check that the incoming mains voltage is within specified limits.

3) Check the motor cables and motor windings for open circuits.

39406, Field Loop overcurrent

Description

The field-current control loop has produced too high current for joint

arg, connected to drive module arg.

Consequences

6 Trouble shooting by Event log

1753HAC020738-001 Revision: K

Probable causes

The motor data in the configuration files may be wrong.

Recommended actions

1) Check that no DC bus errors are present in the event log.

2) Check that the incoming mains is within specified limits.

3) Check the motor cables and motor windings.

39407, Drive Unit has the wrong type code

Description

The type code in drive unit for joint arg in drive module arg is different

from the one specified in the configuration file. Installed drive unit

type is arg, and the configured type is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The configuration file may contain incorrect values, the configuration

key may be incorrect or the hardware may be of the wrong type. If the

drive unit was recently replaced, a drive unit with the wrong type code

may have been fitted or the key was not replaced with one for the

correct hardware/software combination.

Recommended actions

1) Make sure the values in the configuration file match the installed

hardware.

2) Make sure the configuration key match the installed hardware/

software combination. How to check the configuration file is detailed

in the Trouble Shooting Manual.

3) If the drive unit was recently replaced, make sure a unit of the

correct type code is used.

39408, Rectifier Unit has the wrong type code

Description

The type code for rectifier unit arg in drive module arg is different

from the one specified in the configuration file. Installed rectifier unit

type is arg, and the configured type is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The configuration file may contain incorrect values, the configuration

key may be incorrect or the hardware may be of the wrong type. If the

rectifier unit was recently replaced, a rectifier unit with the wrong type

code may have been fitted or the key was not replaced with one for the

correct hardware/software combination.

Recommended actions

1) Make sure the values in the configuration file match the installed

hardware.

2) Make sure the configuration key match the installed hardware/

software combination. How to check the configuration file is detailed

in the Trouble Shooting Manual.

3) If the rectifier unit was recently replaced, make sure a unit of the

correct type code is used.

39409, Capacitor Unit has the wrong type code

Description

The type code for capacitor unit arg in drive module arg is different

from the one specified in the configuration file. Installed capacitor unit

type is arg, and the configured type is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The configuration file may contain incorrect values, the configuration

key may be incorrect or the hardware may be of the wrong type. If the

capacitor unit was recently replaced, a capacitor unit with the wrong

type code may have been fitted or the key was not replaced with one

for the correct hardware/software combination.

Recommended actions

1) Make sure the values in the configuration file match the installed

hardware.

2) Make sure the configuration key match the installed hardware/

software combination. How to check the configuration file is detailed

in the Trouble Shooting Manual.

3) If the capacitor unit was recently replaced, make sure a unit of the

correct type code is used.

39410, Drive Unit communication warning

Description

Many communication errors are being detected between the axis

computer and drive unit number arg in drive module arg. (error rate

per time unit)

Consequences

If the number of communication errors increases further, there is a risk

that the controller will be forced to stop

Probable causes

External noise may interfere with the communication signals.

Recommended actions

1) Check the communication link cable between the axis computer and

the main drive unit is correctly connected.

2) Check that the module is properly grounded.

3) Check for external electromagnetic noise sources close to the drive

module.

6 Trouble shooting by Event log

176 3HAC020738-001 Revision: K

39411, Too Many communication errors

Description

Four or more consecutive communication packets have been lost

between the axis computer and drive unit arg in drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

There may be a break in the communication link cable between the

axis computer and the main drive unit, the drive module may be

incorrectly grounded or excessive noise may interfere with the

communication signals.

Recommended actions

1) Check the communication link cable between the axis computer and

the main drive unit is correctly connected.

2) Check that the module is properly grounded.

3) Check for external electromagnetic noise sources close to the drive

module.

39412, Too Many Missed Reference Updates

Description

Too many missed communication packets have been detected for joint

arg, in drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

There may be a break in the communication link cable between the

axis computer and the main drive unit, the drive module may be

incorrectly grounded or excessive noise may interfere with the

communication signals.

Recommended actions

1) Check the communication link cable between the axis computer and

the main drive unit is correctly connected.

2) Check that the module is properly grounded.

3) Check for external electromagnetic noise sources close to the drive

module..

39413, Drive Software Not Synchronised

Description

The axis computer software in drive module arg has become

unsynchronised with the drive software for joint arg. This is an

unstable software state.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

There may be glitches in the system timing.

Recommended actions

1) Restart the controller.

2) If the problem persists, contact your local ABB representative..

39414, Unknown Capacitor Type Code

Description

The type code for the capacitor unit arg in drive module arg is not

recognised by the system.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The wrong type of capacitor unit may have been fitted or the capacitor

version used is not supported by the software.

Recommended actions

1) Check the type of capacitor unit fitted. Replace if it is the wrong

type.

2) If the problem persists, contact your local ABB representative.

39415, Communication with the Drive Unit Lost

Description

Communication with drive unit number arg in drive module arg has

been lost.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

There may be a break in the communication link cable between the

axis computer and the main drive unit, the drive module may be

incorrectly grounded or excessive noise may interfere with the

communication signals.

Recommended actions

1) Check the communication link cable between the axis computer and

the main drive unit is correctly connected.

2) Check that the module is properly grounded.

3) Check for external electromagnetic noise sources close to the drive

module..

39416, Drive Unit Not Responding

Description

The main drive unit in drive module arg is not responding.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

6 Trouble shooting by Event log

1773HAC020738-001 Revision: K

Probable causes

There may be a break in the communication link cable between the

axis computer and the main drive unit, or there may be a lock-up in the

software.

Recommended actions

1) Check the communication link cable between the axis computer and

the main drive unit is correctly connected.

2) Restart the controller.

3) If the problem persists, contact your local ABB representative.

39417, Cannot find Drive Software Version File

Description

The system cannot locate a valid drive version file on the disk.

The file may have been erased my mistake. Without this file it is not

possible to check if the drive units software needs updating.

Recommended actions

Contact your local ABB representative.

39418, Unknown Drive Unit type code

Description

The type code for the drive unit arg in drive module arg is not

recognised by the system. Installed drive unit type is arg, and the

configured type is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The connection to the drive unit may be bad or the hardware may be

faulty.

Recommended actions

1) Make sure the cable connections on the drive unit are correct.

2) Make sure the drive unit is one supported by this controller.

3) If the drive unit was recently replaced, make sure a unit of the

correct type code is used.

39419, Unknown Rectifier type code

Description

The type code for the rectifier unit arg in drive module arg is not

recognised by the system. Installed rectifier unit type is arg, and the

configured type is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The connection to the drive unit may be bad or the hardware may be

faulty.

Recommended actions

1) Make sure the cable connections on the rectifier unit unit are correct.

2) Make sure the rectifier unit is one supported by this controller.

3) If the rectifier unit was recently replaced, make sure a unit of the

correct type code is used.

39420, Drive Unit built in test failure

Description

Drive unit number arg in drive module arg has detected an internal

hardware failure.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The test software is not working correctly, or the actual hardware is

faulty.

Recommended actions

1) Perform a shutdown and then restart the system.

2) If the problem persists, isolate the faulty drive unit and replace it.

39421, Drive Unit configuration test failure

Description

Drive unit number arg in drive module arg has detected an internal

error.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The connection to the drive unit may be bad or incorrect hardware may

have been fitted.

Recommended actions

1) Perform a shutdown and then restart the system.

2) If the problem persists, isolate the faulty drive unit and replace it.

39422, Drive Unit watchdog timeout

Description

The time limit for watchdog timer for drive unit number arg in drive

module arg has expired.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The connection to the drive unit may be bad or incorrect hardware may

have been fitted. It may also be caused by an internal error in the drive

unit.

6 Trouble shooting by Event log

178 3HAC020738-001 Revision: K

Recommended actions

1) Perform a shutdown and then restart the system.

2) If the problem persists, isolate the faulty drive unit and replace it.

39423, Drive Unit Internal Warning

Description

Internal measurement warning for drive unit number arg in drive

module arg.

supervision code = arg

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

There may be problems with the control cable, the DC link connection

(bus bar or cable) or internal hardware.

Recommended actions

1) Check the control cables and DC link connection (bus bar or cable)

are correctly inserted for this unit.

2) Restart the system.

39424, Drive Unit internal error

Description

Internal measurement warning for drive unit number arg in drive

module arg.

Supervision Code = arg

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The connection to the drive unit may be bad or incorrect hardware may

have been fitted. It may also be caused by faulty control cable, DC link

connection (bus bar or cable) or internal hardware.

Recommended actions

1) Make sure the control cables and DC link connection (bus bar or

cable) are correctly connected for this unit.

2) Perform a shutdown and then restart the system.

3) If the problem persists, isolate the faulty unit and replace it.

39425, Drive Unit measurement failure

Description

A current measurement circuit in drive unit number arg, drive module

arg, attached to joint arg has failed.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty or lacking DC link connection between

the rectifier and drive units.

Recommended actions

1) Make sure the DC link connection (bus bar or cable) is correctly

connected between the rectifier and drive unit.

2) Check the indication LEDs on the rectifier and drive units. The

significance of the LEDs is described in the Trouble Shooting Manual.

39426, Rectifier internal failure

Description

The rectifier on communication link arg attached to drive module

arghas detected an internal failure.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty or lacking signal connection between

the rectifier and drive units.

Recommended actions

1) Make sure the signal cable is correctly connected between the

rectifier and drive unit.

2) Check the indication LEDs on the rectifier and drive units. The

significance of the LEDs is described in the Trouble Shooting Manual.

39427, Rectifier communication missing

Description

The communication with the rectifier on drive comm link arg, drive

module arg has been lost.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty or lacking signal connection between

the rectifier and drive units.

Recommended actions

1) Make sure the signal cable is correctly connected between the

rectifier and drive unit.

2) Perform a shutdown and then restart the system.

3) If the problem persists, isolate the faulty unit and replace it.

39428, Rectifier startup error

Description

The rectifier on drive comm link arg, drive module arg has detected a

startup error.

6 Trouble shooting by Event log

1793HAC020738-001 Revision: K

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by an internal error in the rectifier unit.

Recommended actions

1) Make sure the signal cable is correctly connected between the

rectifier and drive unit.

2) Perform a shutdown and then restart the system.

3) If the problem persists, isolate the faulty rectifier unit and replace it.

39431, Update of Drive Unit Software in

Progress

Description

The drive unit software in drive module arg is being updated.

Please wait for the upgrade to be completed. This will take

approximately 3.5 minutes.

NOTE: Please do not turn off the power or restart the controller until

the download is complete.

Recommended actions

Please wait...

39432, Incompatible boot version in drive unit

Description

The boot version in drive module arg is version arg, which is not

allowed. The latest allowed boot version is arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The boot version is not compatible with the hardware version.

Recommended actions

1) Replace the drive unit with one using a boot version equal to or

greater than the latest allowed one.

39434, Drive Unit Start Failure

Description

The drive unit in drive module arg failed to start. drive boot status =

arg. drive dsp1 status = arg

Consequences

The robot can not be operated.

Probable causes

A number of errors may cause this.

Recommended actions

1) Switch the main power off to the module and then switch it back on.

Note that a normal restart will NOT suffice!

2) If the problem persists, replace the drive unit.

39435, Cannot find additional axis drive unit

Description

The system cannot detect an additional axis drive for joint arg in drive

module arg.

Consequences

System goes to SYS_FAIL.

Probable causes

This can be due to:

1) Having an additional axis configured but not having a drive unit in

the drive module.

2) Having an external drive unit but not connecting the cable to the

Xarg connector position on the main drive unit.

3) Damaged cable between the additional axis drive and the main drive

unit.

Recommended actions

1) Check the drive module contains enough additional axis drives.

2) Check that the configuration key does not define more external

drive units then are connected in the drive module

3) Check the cable between the additional axis drive unit and to the

main drive unit is correctly inserted in the right connector position.

4) If the cable exists and is correctly inserted, then it may be damaged

and should be replaced.

39440, Open circuit in bleeder resistor circuit

Description

The bleeder resistor connected to the rectifier on drive link arg, drive

module arg, is an open circuit.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty bleeder resistor cable or bleeder

resistor.

Recommended actions

1) Make sure the bleeder resistor cable is correctly connected to the

rectifier unit.

2) Make sure the cable and resistor is working correctly by measuring

their resistance respectively. Disconnect before measuring.

3) Replace any faulty component.

39441, Short circuit in bleeder resistor circuit

Description

The bleeder resistor connected to the rectifier on drive link arg, drive

module arg, is a short circuit.

6 Trouble shooting by Event log

180 3HAC020738-001 Revision: K

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty bleeder resistor cable or bleeder

resistor.

Recommended actions

1) Make sure the bleeder resistor cable is correctly connected to the

rectifier unit.

2) Make sure the cable and resistor is working correctly by measuring

their resistance respectively. Disconnect before measuring.

3) Replace any faulty component.

39442, Bleeder Resistance Too Low

Description

The bleeder resistance is too low for the rectifier on drive comm link

arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The bleeders may have the wrong resistance value or one of the

bleeders may have failed, causing a short circuit.

Recommended actions

1) Check the bleeder resistors to see that they are the correct resistance

value for this drive module configuration.

2) Check that none of the resistors have failed. How to check the

configuration file is detailed in the Trouble Shooting Manual.

39443, Bleeder Resistor Overload Warning

Description

The power consumed by the bleeder resistors is approaching overload

for the rectifier on drive communication link arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The user program may contain too much hard braking of the

manipulators, which is more likely if the system contains additional

axes.

Recommended actions

1) Rewrite the user program to reduce the amount of hard braking.

39444, Bleeder resistor overload error

Description

The bleeder resistors have been overloaded for the rectifier on drive

communication link arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The user program may contain too much hard braking or too high a

payload of the manipulators. This is more likely if the system contains

additional axes.

Recommended actions

1) Rewrite the user program to reduce the amount of hard braking.

39450, Faulty Fan Unit Power Supply

Description

The power supply for the fan unit in drive module arg is not within its

allowed voltage limits.

Consequences

Probable causes

The main fan power supply unit may be faulty or the supply to this

power supply unit may not be within its allowed voltage limits.

Recommended actions

1) Check the fan cable is correctly inserted.

2) Check that all fans are working. 3) Check the input voltage to the

main fan power supply unit. Replace any faulty unit.

39451, Fan Unit Malfunction

Description

The fan unit in drive module arg has malfunctioned.

Consequences

Probable causes

The fan unit may be faulty, a loss of power supply or the fan power

cable may not be connected correctly.

Recommended actions

1) Make sure the fan cable is correctly connected.

2) Make sure all fans are working and that air flow is not obstructed.

3) Measure the output voltage from the drive unit supplying the fan.

Replace any faulty unit.

39452, Axis Computer Cooling Fan Malfunction

Description

The cooling fan for the axis computer in drive module arg has

malfunctioned.

Recommended actions

1)Check that the fan cable is correctly inserted.

2) Replace the faulty fan unit.

6 Trouble shooting by Event log

1813HAC020738-001 Revision: K

39453, Transformer Cooling Fan Malfunction

Description

The cooling fan for the transformer supplying drive module arg has

malfunctioned.

Recommended actions

Check if fan cable is correctly inserted.

2) Replace the faulty fan unit.

39460, DC Link Voltage Too Low

Description

The DC link voltage is too low for the rectifier on drive

communication link arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The DC link bus bar may be incorrectly connected or the three-phase

mains power may be interrupted while the robot is in the Motors ON

state. The mains contactor may also have been opened whilst the robot

is in Motors ON state (breaking the safety chain). The incoming main

power supply may also be too low.

Recommended actions

1) Make sure the DC link bus bar is correctly connected.

2) Make sure the mains supply has not been interrupted.

3) Make sure the safety chain has not been broken.

4) Make sure the Drive Module Power Supply output voltage is within

acceptable limits as specified in the Product Manual.

39461, DC Link Voltage Too High

Description

The DC link voltage is too high for the rectifier on drive

communication link arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The user program may contain too much hard braking of the

manipulators, which is more likely if the system contains additional

axes. The brake resistors may also be faulty.

Recommended actions

1) Check the bleeder resistors to see that they are the correct resistance

value for this drive module configuration.

2) Check that none of the resistors have failed.

3) If possible, rewrite the user program to reduce the amount of hard

braking.

39462, DC Link Voltage at Critical

Description

The DC link voltage is critically high for the rectifier on drive

communication link arg, drive module arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The user program may contain too much hard braking of the

manipulators, which is more likely if the system contains additional

axes. The brake resistors may also be faulty.

Recommended actions

1) Check the bleeder resistors to see that they are the correct resistance

value for this drive module configuration.

2) Check that none of the resistors have failed.

3) Rewrite the user program to reduce the amount of hard braking.

39463, Motor Phase Short Circuit Warning

Description

A brief short circuit was detected in the motor/motor cable for the

motor attached to joint arg in drive module arg.

Consequences

Probable causes

This may be due to dust or metal fragments contaminating the contacts

or motor windings.

Recommended actions

No action is required if the problem does not persist.

39464, Short circuit in Motor phase circuit

Description

The motor or motor cable for joint arg in drive module arg, drive unit

number arg, is a short circuit.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by a faulty motor or motor cable. It may also be

caused by contamination in the contactors for the cables or a failure of

the motor windings.

Recommended actions

1) Make sure the motor cable is correctly connected to the drive unit.

2) Check the cable and motor by measuring their resistance

respectively. Disconnect before measuring.

3) Replace any faulty component.

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182 3HAC020738-001 Revision: K

39465, Motor current warning

Description

The motor current is higher than the allowed for joint arg in drive

module arg, drive unit number arg.

Consequences

Probable causes

The motor load may be too high or the motor may have stalled (maybe

due to a collision).

Recommended actions

1) Check that the robot has not collided with anything.

2) If possible, reduce the speed of the user program.

3) If the axis is an additional axis, check that the motor load is not too

high for the drive unit.

39466, Motor Current Overload

Description

The motor current is too high for joint arg in drive module arg, drive

unit number arg.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The motor load may be too high or the motor may have stalled (maybe

due to a collision).

Recommended actions

1) Check that the robot has not collided.

2) If possible, reduce the speed of the user program.

3) If the axis is an additional axis, check that the motor load is not too

high for the drive unit.

39467, Drive Unit Temperature Warning

Description

The temperature has risen above the warning level in drive unit

number arg, drive module arg, which is the lowest abnormal level of

three.

Consequences

Probable causes

The ambient temperature may be too high, the cooling fans may have

failed or the user program may consume more current than the drive

system can supply.

Recommended actions

1) Check that the fans are running and that the air flow is not

obstructed.

2) Check that the ambient temperature does not exceed the cabinet

rating.

3) If the system contains additional axes then check that motors are not

too large for the drive units.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39468, Drive Unit Temperature Alarm

Description

The temperature has risen above the alarm level in drive unit number

arg, drive module arg, which is the second abnormal level of three.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The ambient temperature may be too high, the cooling fans may have

failed or the user program may consume more current than the drive

system can supply.

Recommended actions

1) Check that the fans are running and that the air flow is not

obstructed.

2) Check that the ambient temperature does not exceed the cabinet

rating.

3) If the system contains additional axes then check that motors are not

too large for the drive units.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39469, Drive Unit Temperature Critical

Description

The temperature has risen above the critical level in drive unit number

arg, drive module arg, which is the top abnormal level of three.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The ambient temperature may be too high, the cooling fans may have

failed or the user program may consume more current than the drive

system can supply.

Recommended actions

1) Check that the fans are running and that the air flow is not

obstructed.

2) Check that the ambient temperature does not exceed the cabinet

rating.

3) If the system contains additional axes then check that motors are not

too large for the drive units.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

6 Trouble shooting by Event log

1833HAC020738-001 Revision: K

39470, Power Semiconductor Warning

Description

The power semiconductor is approaching overload for joint arg, in

drive unit number arg, drive module arg .

Consequences

Probable causes

The motor load may be too high, the motor may have stalled (maybe

due to a collision), the motor load may be too high or there may not be

enough cooling.

Recommended actions

1) Check that the robot has not collided.

2) Check that the fans are running and that the air flow is not

obstructed.

3) Check that the ambient temperature does not exceed the cabinet

rating.

4) If the system contains additional axes then check that motors are not

too large for the drive units.

5) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39471, Power Semiconductor Overload Error

Description

The power semiconductor has been overloaded for joint arg, in drive

unit number arg, drive module arg .

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The motor load may be too high, the motor may have stalled (maybe

due to a collision), the motor load may be too high or there may not be

enough cooling.

Recommended actions

1) Check that the robot has not collided.

2) Check that the fans are running and that the air flow is not

obstructed.

3) Check that the ambient temperature does not exceed the cabinet

rating.

4) If the system contains additional axes then check that motors are not

too large for the drive units.

5) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39472, Incoming Mains Phase Missing

Description

The rectifier connected to communication link arg in drive module arg

detects a power loss in one phase.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by an actual mains power loss, some malfunction

in the Motors ON contactors or its cabling or in another part of the

three phase chain inside the cabinet. On rare occasions, this fault may

occur in combination with other faults, in which case this may be found

in the error log.

Recommended actions

1) Make sure the mains switch is closed and that there is mains voltage

present. No volts means the problem is in mains cable connector or the

factory power supply.

2) If the voltage is OK, disconnect the input mains cable and measure

the resistance of all three phases across all the components in the 3

phase supply chain. Start from the contactor closest to the rectifier and

work backwards towards the mains switch. The contactors can be

closed manually to perform the test. Refer to the electrical drawings for

the cabinet.

3) Check the indication LEDs on the rectifier unit. The significance of

these is described in the Trouble Shooting Manual.

4) If the voltage is OK, check any other error log messages coinciding

in time with this one for clues.

39473, All Incoming Mains Phases Missing

Description

The rectifier connected to communication link arg in drive module arg

detects a power loss in one or more phases.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

This may be caused by an actual mains power loss, some malfunction

in the Motors ON contactors or its cabling or in another part of the

three phase chain inside the cabinet. On rare occasions, this fault may

occur in combination with other faults, in which case this may be found

in the error log.

Recommended actions

1) Make sure the mains switch is closed and that there is mains voltage

present. No volts means the problem is in mains cable connector or the

factory power supply.

2) If the voltage is OK, disconnect the input mains cable and measure

the resistance of all three phases across all the components in the 3

phase supply chain. Start from the contactor closest to the rectifier and

work backwards towards the mains switch. The contactors can be

closed manually to perform the test. Refer to the electrical drawings for

the cabinet.

3) Check the indication LEDs on the rectifier unit. The significance of

these is described in the Trouble Shooting Manual.

4) If the voltage is OK, check any other error log messages coinciding

in time with this one for clues.

6 Trouble shooting by Event log

184 3HAC020738-001 Revision: K

39474, Rectifier Current Warning

Description

The rectifier connected to drive communication link arg in drive

module arg is approaching overload.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The total motor current may be greater than that which the rectifier can

supply.

Recommended actions

1) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39475, Rectifier Current Error

Description

The rectifier connected to drive communication link arg in drive

module arg has reached overload.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The total motor current may be greater than that which the rectifier can

supply.

Recommended actions

1) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39476, Rectifier Temperature Warning

Description

The temperature in the rectifier unit connected to drive communication

link arg in drive module arg is approaching a too high a level.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The cooling fans may be faulty or the air flow may be obstructed. The

ambient temperature may be too high or the system may be running

with a too high load for extended periods.

Recommended actions

1) Check that the fans are running and that the air flow is not

obstructed.

2) Check that the ambient temperature does not exceed the cabinet

rating.

3) If the system contains additional axes then check that motors are not

too large for the drive units.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39477, Rectifier Temperature Error

Description

The temperature in the rectifier unit connected to drive communication

link arg in drive module arg has reached a too high a level.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The cooling fans may be faulty or the air flow may be obstructed. The

ambient temperature may be too high or the system may be running

with a too high load for extended periods.

Recommended actions

1) Check that the fans are running and that the air flow is not

obstructed.

2) Check that the ambient temperature does not exceed the cabinet

rating.

3) If the system contains additional axes then check that motors are not

too large for the drive units.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39478, Internal Motor PTC Temperature Error

Description

The temperature in one or more robot motors connected to drive

module arg is has reached a too high a level.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The motor may have stalled (possibly due to a collision), the motor

may be overloaded or the ambient temperature may be higher than the

rated level for the robot.

Recommended actions

1) Check that the robot has not collided.

2) Check that the ambient temperature does not exceed the robot

rating.

3) Allow the robot to cool down, and then run the system again.

Replace any motors damaged by the excessive heat.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39479, External Motor PTC Temperature Error

Description

One or more additional axis motors connected to drive module arg is

has reached a too high a level.

6 Trouble shooting by Event log

1853HAC020738-001 Revision: K

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The motor may have stalled (possibly due to a collision), the motor

may be overloaded or the ambient temperature may be higher than the

rated level for the robot.

Recommended actions

1) Check that the additional axis has not collided.

2) Check that the ambient temperature does not exceed the rating.

3) Allow the motor to cool down, and then run the system again.

Replace any motors damaged by the excessive heat.

4) If possible, rewrite the user program to reduce the amount of hard

acceleration.

39482, Mains Voltage Too High

Description

The mains voltage detected in drive module arg is too high.

Consequences

The robot can not be operated.

Probable causes

The mains transformer may be incorrectly wired or the external supply

voltage may be too high.

Recommended actions

1) Measure the incoming mains voltage at the main contactor in the

drive module. Make sure it is within the range specified for this

module.

2) Check the wiring of the mains transformer as detailed in the robot

Product Manual.

39483, DC Link Short Circuit

Description

A short circuit has been detected on the DC link of drive module arg.

Consequences

The robot can not be operated.

Probable causes

The DC bus bar may be badly connected or its contact surfaces may be

contaminated causing a short circuit.

Recommended actions

1) Check that all DC link bus bars have been correctly connected.

2) Check that all contacts are free from contamination.

39484, Run chain open in motor on state

Description

Run chain arg is open when system is in motor on state. The problem

occurred in drive system arg.

Consequences

System goes to SYS_HALT.

Probable causes

1) Cables and connections on the Safety System are unplugged or

damaged.

2) The contactor for this run chain in the drive module may be stuck

due to mechanical problem in contactor itself.

3) The help contactor on the contactor can suffer from bad galvanic

behavior or faulty cable to the Safety System.

Recommended actions

1) Check if a motor contactor is stucked.

2) Replace faulty motor contactor.

39485, Run chain close in motor off state

Description

Run chain arg is open when system is in motor on state. The problem

occurred in drive system arg.

Consequences

System goes to SYS_HALT.

Probable causes

1) The contactor for this run chain placed in the drive module has been

pulled down manually.

2) The contactor has been welded in close position.

Recommended actions

1) If the contactor is not released and stays in pulled position, shut

down the system and replace the contactor.

2) If the contactor has been pulled down manually, take this message

as a warning only.

39486, DC Link Not Connected

Description

The DC Link connection to the drive serving joint arg in drive module

arg, drive unit number arg is missing or is not properly connected.

Consequences

The system goes to SYS_HALT.

Probable causes

1) The DC Bussbar is either missing or is not properly connected.

2) If the bussbar is correctly connected. The drive unit reporting the

error may have a fault.

Recommended actions

1) Check the DC Bussbar is properly connected to all the drive units

39500, Logic Voltage to Drive Unit Warning

Description

The 24V supply from the Drive Module Power Supply to the main

drive unit in drive module arg is out of range.

6 Trouble shooting by Event log

186 3HAC020738-001 Revision: K

Consequences

Probable causes

The 24V supply from the Drive Module Power Supply may be out of

range.

Recommended actions

1) Make sure the power cable from the Drive Module Power Supply to

the main drive unit is connected correctly.

2) Check if the power supply unit LED is red. The full meaning of all

LED indications are described in the Trouble Shooting Manual, IRC5.

39501, Logic Voltage to Drive Unit Error

Description

The 24V supply to the main drive unit in drive module arg is out of

range.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The 24V supply from the power supply unit may be out of range.

Recommended actions

1) Make sure the power cable from the power supply unit to the main

drive unit is connected correctly.

2) Check if the power supply unit LED is red. The full meaning of all

LED indications are described in the Trouble Shooting Manual, IRC5.

39502, Logic Voltage to Rectifier Error

Description

The 24V to the rectifier in drive module arg is out of range.

Consequences

Probable causes

The cable between the drive unit and the rectifier may be badly

connected, or the power supply voltage to the drive unit may be out of

range.

Recommended actions

1) Check that the power cable between the power supply unit and the

rectifier unit has been connected correctly.

2) Check the 24 V voltage in the power cable to the drive unit..

39503, Power Supply Overtemperature

Description

The temperature in the Drive Module Power Supply of drive module

arg has reached a critical level.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The fan unit may be faulty, the cooling air flow may be obstructed or

the ambient temperature may be too high.

Recommended actions

1) NOTE! Do not try to restart the controller for approx. ten minutes to

let it cool down.

2) Make sure the fans are running and that the air flow is not

obstructed.

3) Make sure the ambient temperature does not exceed the drive

module rating.

4) Make sure the power supply connectors are correctly connected to

the axis computer.

39504, Power Supply to Brakes Overload

Description

The brake power circuit in drive module arg draws too much current.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS HALT.

Probable causes

The brake power cable may be faulty (short circuit), or additional axis

motors with brakes consuming too much power may be used. The fault

may also occur if the cable from the power supply unit is not correctly

connected to the drive module.

Recommended actions

1) Make sure the power supply cable is correctly connected to the drive

module.

2) Check the brake supply cable for short circuits.

3) Make sure the total current consumed by additional axes' motors

does not exceed the specification for the drive module.

4) Make sure the power supply connectors are correctly connected to

the axis computer.

5) Make sure the 24 V BRAKE voltage is within specified limits. See

the Circuit Diagram in the Product Manual, IRC5.

39505, Mains Voltage to Power Supply Lost

Description

The mains power supply to the power supply unit in Drive Module arg

is missing.

Consequences

No operation will be possible until after correcting the fault. The

system goes to status SYS FAIL.

6 Trouble shooting by Event log

1873HAC020738-001 Revision: K

Probable causes

The main power switch on the Drive Module may be turned off. The

incoming mains cable may be faulty (break), or the circuit breaker for

the power supply may have tripped. The fault may also occur if the

connector from the power supply unit is not correctly connected to the

axis computer.

Recommended actions

1) Check that the main power switch in turned on for the Drive Module

and restart the system.

2) Check that the connector from the power supply unit is correctly

connected to the axis computer.

3) Measure the voltage at the mains contactor to ensure that the mains

is present.

4) Check that the power supply fuses/circuit breakers in the drive

module have not tripped.

39520, Communication lost with Drive Module

Description

The main computer has lost contact with drive module arg.

Consequences

The system goes to status SYS HALT No operation will be possible

until the fault has been corrected.

Probable causes

This may be due to a cable break, badly connected connector or high

levels of interference in the cable.

Recommended actions

1) Make sure the cable between Control Module and Drive Module is

not damaged and that both connectors are correctly connected.

2) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

39521, Drive Module Communication Warning

Description

There are a large number of communication errors being detected on

the ethernet link to drive module arg.

This can be due to external noise sources interfering with the cable.

Recommended actions

Check that there are no electromagnetic interference sources running

near the cable or the drive or computer modules.

39522, Axis computer not found

Description

The axis computer in drive module arg is not connected to the main

computer.

Consequences

The system goes to status SYS FAIL. No operation will be possible

until the fault has been corrected.

Probable causes

This may be due to a cable break, badly connected connectors or loss

of power supply.

Recommended actions

1) Make sure the main power switch on Drive Module arg has been

switched ON.

2) Make sure the cable between Control Module and Drive Module is

not damaged and that both connectors are correctly connected.

3) Make sure the cable is connected to the correct AXC connector on

the Main Computer Unit Robot Communication Card or EtherNet

Board (if the MultiMove option has been installed).

4) Restart the system.

5) Make sure the Power Supply Unit in Drive Module arg is working

correctly.

39523, Unused Axis computer connected

Description

Axis computer in the drive module arg is connected to the main

computer but not in use.

Probable causes

This can be due to configuration problem.

Recommended actions

1. Disconnect the unused axis computer or setup the system to use the

axis computer.

2. Restart the system.

39524, Drive Module Command timeout

Description

Drive Module arg does not respond to command arg. The system has

stopped the program for safety reasons.

Recommended actions

1. Check that drive module is powered on.

2. Check the cable between the main computer and axis computer.

3. Restart the system.

39525, Drive Module startup error

Description

The system has failed to complete the initialization phase of drive

module arg .

Consequences

The system goes to System Failure state.

Probable causes

The system has failed to complete the initialization phase of the drive

module.

Recommended actions

1) Retry by restarting the system using the main power switch.

2) Check for other hardware eventlog messages.

6 Trouble shooting by Event log

188 3HAC020738-001 Revision: K

39530, Axis Computer Lost Communication

With Safety System

Description

Communication has been lost between axis computer and the Safety

System in drive module arg.

Consequences

System goes to status SYS FAIL.

Probable causes

This may be due to a faulty communication cable or connection

between the axis computer and the Safety System. It may also be due

to severe interference or if the Safety System has lost its power.

Recommended actions

1) Check cable between the axis computer and the Safety System is

intact and correctly connected.

2) Check power supply connected to the Safety System.

3) Make sure no extreme levels of electromagnetic interference are

emitted close to the robot cabling.

39531, Run chain glitch test not running

Description

The glitch test of the run chain has not been performed. The problem

was discovered by the Safety System connected to the axis computer

in drive module arg.

Consequences

System goes to status SYS HALT.

Probable causes

This may be due internal errors.

Recommended actions

Contact your local ABB support office.

40001, Argument error

Description

The optional argument arg has been used more than once in the same

routine call.

Recommended actions

1) Make sure the optional parameter is not used more than once in the

same routine call.

40002, Argument error

Description

The argument arg has been specified for more than one parameter.

Recommended actions

The parameter list, from which the parameter is selected, contains

parameters mutually exclusive.

1) Make sure the argument is used for one parameter only.

40003, Argument error

Description

An argument for the required parameter arg was expected, but the

optional argument arg was found.

Recommended actions

1) Make sure all arguments are specified in the same order as the

parameters for the routine called.

40004, Argument error

Description

The argument for REF parameter arg is not a data reference.

Recommended actions

1) Make sure the argument is a data or a parameter reference.

40005, Argument error

Description

The argument for INOUT parameter arg is not a variable or persistent

reference, or it is read-only.

Recommended actions

1) Make sure the argument is a variable or a persistent variable

parameter or a persistent parameter reference and that it is NOT read-

only.

2) Also make sure the argument is NOT written within brackets ().

40006, Argument error

Description

Parameter arg is missing an optional argument value.

Recommended actions

The only parameters that may be specified by a name only are "switch"

parameters. All others must be assigned a value.

1) Make sure parameter has a value.

40007, Argument error

Description

The optional argument arg is not found in its correct position in the

argument list.

Recommended actions

1) Make sure all arguments are specified in the same order as the

parameters for the routine called.

40008, Argument error

Description

A reference to the optional parameter arg is missing.

6 Trouble shooting by Event log

1893HAC020738-001 Revision: K

Recommended actions

Each optional parameter must have a reference argument, specified

with a leading backslash character (\).

1) Change the required argument into an optional argument.

40009, Argument error

Description

A reference to the required parameter arg in a conditional argument is

missing.

Recommended actions

Each conditional value for an optional parameter must refer to an

optional parameter in the calling routine.

1) Change the conditional value.

40010, Argument error

Description

A reference to the required parameter arg in an optional argument is

missing.

Recommended actions

Each required parameter must have a reference argument, specified

with a leading backslash character (\).

1) Change the optional argument into a required argument.

40011, Argument error

Description

The required argument arg is not found in its correct position in the

argument list.

Recommended actions

Make sure all arguments are specified in the same order as the

parameters for the routine called.

40012, Argument error

Description

The "switch" argument arg has a value.

Probable causes

An argument corresponding to a "switch" parameter may not be

assigned a value.

Recommended actions

1) Remove the value.

40013, Argument error

Description

The call to routine arg has too few arguments.

Recommended actions

A routine call must supply values for all required parameters of the

routine being called. The argument list must have as many arguments,

as the parameter list has parameters.

1) Add more arguments to fit the parameter list.

40014, Argument error

Description

The call to routine arg has too many arguments.

Recommended actions

No arguments, more than those defined by the called routine parameter

list, must be supplied. The argument list must have as many

arguments, as the parameter list has parameters.

1) Remove excessive arguments from the argument list.

40015, Data declaration error

Description

The number of array dimensions is arg, but may be 1, 2 or 3 only.

Recommended actions

1) Change the dimension expression.

40016, Data declaration error

Description

Too many dimensions in array definition.

Recommended actions

An array may have at most 3 dimensions.

Rewrite the program so that no more than 3 dimensions are needed.

40017, Type error

Description

Indexed data arg, arg is not of array type.

Recommended actions

Only data that have been declared to be arrays may be indexed.

1) Remove the index or indices.

2) Declare the data to be an array.

40018, Type error

Description

Data arg, arg is not of record type.

Recommended actions

Components are only available for data of record type.

1) Check the type and name of the referenced data.

6 Trouble shooting by Event log

190 3HAC020738-001 Revision: K

40019, Limit error

Description

Task arg: Error when creating the persistent variable arg.

The error occurred when the persistent variable was to be inserted into

the

database.

Program Ref. arg

Consequences

The created persistent variable can not be used in a RAPID program.

Probable causes

The program memory is full or fragmentated.

Recommended actions

Check if large data structures could be split into smaller blocks.

Use of installed modules can save program memory.

40020, Data declaration error

Description

Expression arg is not a constant expression.

Recommended actions

Any expression contained within a data declaration must be a constant

expression.

1) Make sure no expression contains variables or persistent references,

or function calls.

40021, Instruction error

Description

Missing expression in RETURN instruction.

Probable causes

A RETURN instruction within a function must specify a value to be

returned.

Recommended actions

1) Add a value expression.

40022, Type error

Description

Illegal combination of operand types arg and arg for the '*' operator.

Recommended actions

Allowed operand type combinations are: "num"*"num", "num"*"pos",

"pos"*"num", "pos"*"pos" and "orient"*"orient".

1) Check the operand types.

40023, Instruction error

Description

Cannot transfer control into another instruction list.

Recommended actions

It is not possible to jump into a program flow instruction.

1) Make sure that the label is located in the same instruction list as the

GOTO instruction, at the same or an outer level.

40024, Type error

Description

Illegal type arg for left operand of binary '+' or '-' operator.

Recommended actions

Allowed operand types for the binary "+" operator are "num", "pos"

and "string", and for the binary "-" operator "num" and "pos".

1) Check the operand types.

40025, Type error

Description

Illegal type arg for operand of unary '+' or '-' operator.

Recommended actions

Allowed operand types for the unary "+" and "-" operators are "num"

and "pos".

1) Check the operand types.

40026, Type error

Description

Illegal type arg for right operand of binary '+' or '-' operator.

Recommended actions

Allowed operand types for the binary "+" operator are "num", "pos"

and "string", and for the binary "-" operator "num" and "pos".

1) Check the operand types.

40027, Type error

Description

Illegal type arg for left operand of '/', 'DIV' or 'MOD' operator.

Recommended actions

Allowed operand type for the "/", "DIV" or "MOD" operators is

"num".

1) Check the operand types.

40028, Type error

Description

Illegal type arg for right operand of '/', 'DIV' or 'MOD' operator.

Recommended actions

Allowed operand type for the "/", "DIV" or "MOD" operators is

"num".

1) Check the operand types.

6 Trouble shooting by Event log

1913HAC020738-001 Revision: K

40029, Type error

Description

Illegal type arg for left operand of '<', '<=', '>' or '>=' operator.

Recommended actions

Allowed operand type for the "<", "<=", ">" or ">=" operators is

"num".

1) Check the operand types.

40030, Type error

Description

Illegal type arg for right operand of '<', '<=', '>' or '>=' operator.

Recommended actions

Allowed operand type for the "<", "<=", ">" or ">=" operators is

"num".

1) Check the operand types.

40031, Type error

Description

Illegal type arg for left operand of '*' operator.

Recommended actions

Allowed operand types for the "*" operator are "num", "pos" or

"orient".

1) Check the operand types.

40032, Type error

Description

Illegal type arg for right operand of '*' operator.

Recommended actions

Allowed operand types for the "*" operator are "num", "pos" or

"orient".

1) Check the operand types.

40033, Type error

Description

Illegal type arg for operand of 'NOT' operator.

Recommended actions

Allowed operand type for the "NOT" operator is "bool".

1) Check the operand types.

40034, Type error

Description

Illegal type arg for left operand of 'OR', 'XOR' or 'AND' operator.

Recommended actions

Allowed operand type for the "OR", "XOR" or "AND" operators is

"bool".

1) Check the operand types.

40035, Type error

Description

Illegal type arg for right operand of 'OR', 'XOR' or 'AND' operator.

Recommended actions

Allowed operand type for the "OR", "XOR" or "AND" operators is

"bool".

1) Check the operand types.

40036, Type error

Description

Incorrect number of indices in index list for array arg with arg

dimension(s).

Recommended actions

1) Make sure that the number of indices in the index list corresponds

to the number of dimensions of the indexed data array.

40037, Data declaration error

Description

LOCAL illegal in routine constant declaration.

Recommended actions

Only program data declarations may have the LOCAL attribute.

Remove the LOCAL attribute or move the declaration outside of the

routine.

40038, Data declaration error

Description

LOCAL illegal in routine variable declaration

Recommended actions

Only program data declarations may have the LOCAL attribute.

Remove the LOCAL attribute or move the declaration outside of the

routine.

40039, Name error

Description

Constant name arg ambiguous.

Recommended actions

Routine data must have names that are unique within the routine.

Program data must have names that are unique within the module.

Rename the data or change the conflicting name.

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192 3HAC020738-001 Revision: K

40040, Name error

Description

Global constant name arg ambiguous.

Recommended actions

Global data must have names that are unique among all the global

types, data, global routines and modules in the entire program. Rename

the data or change the conflicting name.

40041, Name error

Description

Global persistent name arg ambiguous.

Recommended actions

Global data must have names that are unique among all the global

types, data, global routines and modules in the entire program. Rename

the data or change the conflicting name.

40042, Name error

Description

Global routine name arg ambiguous.

Recommended actions

Global routines must have names that are unique among all the global

types, data, global routines and modules in the entire program. Rename

the routine or change the conflicting name.

40043, Name error

Description

Global variable name arg ambiguous.

Recommended actions

Global data must have names that are unique among all the global

types, data, global routines and modules in the entire program. Rename

the data or change the conflicting name.

40044, Name error

Description

Label name arg ambiguous.

Recommended actions

Labels must have names that are unique within the routine. Rename the

label or change the conflicting name.

40045, Name error

Description

Module name arg ambiguous.

Recommended actions

Modules must have names that are unique among all the global types,

global data, global routines and modules in the entire program.

Rename the module or change the conflicting name.

40046, Name error

Description

Parameter name arg ambiguous.

Recommended actions

Parameters must have names that are unique within the routine.

Rename the parameter or change the conflicting name.

40047, Name error

Description

Persistent name arg ambiguous

Recommended actions

Program data must have names that are unique within the module.

Rename the data or change the conflicting name.

40048, Name error

Description

Routine name arg ambiguous.

Recommended actions

Routines must have names that are unique within the module. Rename

the routine or change the conflicting name.

40049, Name error

Description

Variable name arg ambiguous.

Recommended actions

Routine data must have names that are unique within the routine.

Program data must have names that are unique within the module.

Rename the data or change the conflicting name.

40050, Type error

Description

Operand types arg and arg for binary '+' or '-' operator not equal

Recommended actions

The two operands of the '+' and '-' operators must have equal type.

Check the operand types.

40051, Type error

Description

Operand types arg and arg for '=' or '<>' operator not equal

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1933HAC020738-001 Revision: K

Recommended actions

The two operands of the '=' and '<>' operators must have equal type.

Check the operand types.

40052, Instruction error

Description

RETURN with expression only allowed in function

Recommended actions

In a procedure or trap the return instruction must not specify a return

value expression. Remove the expression.

40054, Type error

Description

Different dimension of array type (arg) and aggregate (arg)

Recommended actions

Make sure that the number of expressions in the aggregate is the same

as the dimension of the data array.

40055, Type error

Description

Assignment target type arg is not value or semi-value type.

Recommended actions

The type, of the data to be assigned a value, must be a value or semi-

value type. Data of non-value types may only be set by special type

specific predefined instructions or functions.

40056, Type error

Description

Type arg for left operand of '=' or '<>' operator not value or semi-value

type

Recommended actions

The '=' and '<>' operators may only be applied to expressions of value

or semi-value type. If comparisons are to be made, special type specific

predefined functions are needed.

40057, Type error

Description

Type arg for right operand of '=' or '<>' operator not value or semi-

value type

Recommended actions

The '=' and '<>' operators may only be applied to expressions of value

or semi-value type. If comparisons are to be made, special type specific

predefined functions are needed.

40058, Type error

Description

TEST expression type arg not value or semi-value type

Recommended actions

The TEST instruction may only be applied to an expression of value or

semi-value type. If comparisons are to be made, special type specific

predefined functions are needed.

40059, Data declaration error

Description

Place holder for value expression not allowed in definition of named

constant

Recommended actions

Complete the data declaration or change the data name to a place

holder.

40060, Data declaration error

Description

Place holder for array dimension not allowed in definition of named

constant or variable

Recommended actions

Complete the data declaration or change the data name to a place

holder.

40061, Routine declaration error

Description

Place holder for parameter array dimensions not allowed in definition

of named routine

Recommended actions

Complete the parameter declaration or change the routine name to a

place holder.

40062, Name error

Description

Place holder for parameter name not allowed in definition of named

routine

Recommended actions

Complete the routine declaration or change the routine name to a place

holder.

40063, Data declaration error

Description

Place holder for initial value expression not allowed in definition of

named persistent

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194 3HAC020738-001 Revision: K

Recommended actions

Complete the data declaration or change the data name to a place

holder.

40064, Routine declaration error

Description

Place holder for parameter not allowed in definition of named routine

Recommended actions

Complete the parameter declaration, remove the place holder or

change the routine name to a place holder.

40065, Reference error

Description

Place holder for type not allowed in definition of named data, record

component or routine

Recommended actions

Complete the data or routine declaration or change the data or routine

name to a place holder.

40066, Data declaration error

Description

Place holder for initial value expression not allowed in definition of

named variable

Recommended actions

Complete the data declaration or change the data name to a place

holder.

40067, Type error

Description

Too few components in record aggregate of type arg

Recommended actions

Make sure that the number of expressions in the aggregate is the same

as the number of components in the record type.

40068, Type error

Description

Too many components in record aggregate of type arg

Recommended actions

Make sure that the number of expressions in the aggregate is the same

as the number of components in the record type.

40069, Reference error

Description

Data reference arg is ambiguous

Recommended actions

At least one other object sharing the same name as the referred data is

visible from this program position. Make sure that all object names

fulfill the naming rules regarding uniqueness.

40070, Reference error

Description

function reference arg is ambiguous

Recommended actions

At least one other object sharing the same name as the referred

function is visible from this program position. Make sure that all object

names fulfill the naming rules regarding uniqueness.

40071, Reference error

Description

Label reference arg is ambiguous

Recommended actions

At least one other object sharing the same name as the referred label is

visible from this program position. Make sure that all object names

fulfill the naming rules regarding uniqueness.

40072, Reference error

Description

Procedure reference arg is ambiguous

Recommended actions

At least one other object sharing the same name as the referred

procedure is visible from this program position. Make sure that all

object names fulfill the naming rules regarding uniqueness.

40073, Reference error

Description

Trap reference arg is ambiguous.

Recommended actions

At least one other object sharing the

same name as the referred trap is

visible from this program position. Make

sure that all object names fulfill the

naming rules regarding uniqueness.

40074, Reference error

Description

arg

not entire data reference

Recommended actions

The specified name identifies an object

other than data. Check if the desired

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1953HAC020738-001 Revision: K

data is hidden by some other object with

the same name.

40075, Reference error

Description

arg

not function reference

Recommended actions

The specified name identifies an object

other than a function. Check if the

desired function is hidden by some other

object with the same name.

40076, Reference error

Description

arg

not label reference

Recommended actions

The specified name identifies an object

other than a label. Check if the desired

label is hidden by some other object

with the same name.

40077, Reference error

Description

arg

not optional parameter reference in

conditional argument value

Recommended actions

The specified name identifies an object

other than an optional parameter. Change

the name to refer to an optional

parameter.

40078, Reference error

Description

arg

not optional parameter reference

Recommended actions

The specified name identifies an object

other than an optional parameter. Change

the name to refer to an optional

parameter.

40079, Reference error

Description

Task arg: arg is not a procedure reference

Recommended actions

The specified name identifies an object

other than a procedure. Check if the

desired procedure is hidden by some

other object with the same name.

40080, Reference error

Description

arg

not required parameter reference

Recommended actions

The specified name identifies an object

other than a required parameter. Change

the name to refer to a required

parameter.

40081, Reference error

Description

arg

not trap reference

Recommended actions

The specified name identifies an object

other than a trap. Check if the desired

trap is hidden by some other object with

the same name.

40082, Reference error

Description

arg

not type name

Recommended actions

The specified name identifies an object

other than a type. Check if the desired

type is hidden by some other object with

the same name.

40083, Type error

Description

arg

not value type

Recommended actions

Only variables that lack initial value,

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196 3HAC020738-001 Revision: K

and 'VAR' mode parameters may be of

semi-value or non-value type.

40086, Reference error

Description

Reference to

unknown label arg

Recommended actions

The routine contains no label (or other

object) with the specified name.

40087, Reference error

Description

Reference to

unknown optional parameter

arg

Recommended actions

The called routine contains no optional

parameter (or other object) with the

specified name.

40089, Reference error

Description

Reference to

unknown record component

arg

Recommended actions

The record type contains no record

component with the specified name.

40090, Reference error

Description

Reference to

unknown required parameter

arg

Recommended actions

The called routine contains no required

parameter (or other object) with the

specified name.

40092, Reference error

Description

Unknown type name

arg

Recommended actions

No data type (or other object) with the

specified name is visible from this

program position.

40093, Instruction error

Description

Assignment target

is read only

Recommended actions

The data to be assigned a value may not

be a constant, read only variable or

read only persistent.

40094, Data declaration error

Description

Persistent

declaration not allowed in routine

Recommended actions

Persistents may only be declared at

module level. Move the persistent

declaration from the routine.

40095, Instruction error

Description

RAISE without

expression only allowed in error handler

Recommended actions

Add an error number expression to the

RAISE instruction.

40096, Instruction error

Description

RETRY only

allowed in error handler

Recommended actions

The RETRY instruction may only be used

in error handlers. Remove it.

40097, Instruction error

Description

TRYNEXT only

allowed in error handler

Recommended actions

The TRYNEXT instruction may only be used

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1973HAC020738-001 Revision: K

in error handlers. Remove it.

40098, Parameter error

Description

'switch'

parameter must have transfer mode IN

Recommended actions

Remove the parameter transfer mode

specifier. If IN transfer mode is not

sufficient, change the data type of the

parameter.

40099, Parameter error

Description

'switch'

parameter cannot be dimensioned

Recommended actions

Remove the array dimension

specification, or change the data type

of the parameter.

40100, Parameter error

Description

'switch' only

allowed for optional parameter

Recommended actions

Change the parameter into an optional

parameter, or change the data type of

the parameter. If the object is not a

parameter, change the data type.

40101, Type error

Description

Type mismatch of

expected type arg and

found type arg

Recommended actions

The expression is not of the expected

data type.

40102, Type error

Description

Type mismatch of

aggregate, expected type

arg

Recommended actions

The aggregate does not match the

expected data type.

40103, Type error

Description

Persistent

arg, arg type

mismatch

Recommended actions

There is already a persistent data with

the same name but with another data

type. Rename the persistent, or change

its data type.

40104, Data declaration error

Description

Cannot determine

array dimensions (circular constant

references ?)

Recommended actions

Check that any referred constants are

correctly defined. If so, the program is

too complex. Try to rewrite the

declarations.

40105, Data declaration error

Description

Cannot determine

type of constant value (circular

constant references ?)

Recommended actions

Check that any referred constants are

correctly defined. If so, the program is

too complex. Try to rewrite the

declarations.

40106, Data declaration error

Description

Cannot evaluate

constant value expression (circular

constant references ?)

Recommended actions

Check that any referred constants are

correctly defined. If so, the program is

too complex. Try to rewrite the

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declarations.

40107, Data declaration error

Description

Cannot determine

type of variable value (circular

constant references?)

Recommended actions

Check that any referred constants are

correctly defined. If so, the program is

too complex. Try to rewrite the

declarations.

40108, Type error

Description

Unknown aggregate

type

Recommended actions

An aggregate may not be used in this

position since there is no expected data

type. Declare data with the desired data

type and aggregate value. Use the name

of the data instead of the aggregate.

40109, Type definition error

Description

Cannot determine

type of record component

arg

(circular type definitions?)

Recommended actions

Check that the type of the component is

correctly defined. If so, it could be

a circular definition, the type of a

component could not refer to the its

own record type.

40110, Reference error

Description

Record name

arg is ambiguous

Recommended actions

At least one other object sharing the

same name as the referred record name is

visible from this program position. Make

sure that all object names fulfill the

naming rules regarding uniqueness.

40111, Name error

Description

Global record

name arg ambiguous

Recommended actions

Global type must have names that are

unique among all the global types, data,

global routines and modules in the

entire program. Rename the record

or change the conflicting name.

40112, Reference error

Description

Alias name

arg is ambiguous

Recommended actions

At least one other object sharing the

same name as the referred alias name is

visible from this program position. Make

sure that all object names fulfill the

naming rules regarding uniqueness.

40113, Name error

Description

Global alias

name arg ambiguous

Recommended actions

Global type must have names that are

unique among all the global types, data,

global routines and modules in the

entire program. Rename the alias

or change the conflicting name.

40114, Type definition error

Description

Type reference

of alias name arg

is an alias type

Recommended actions

Check that the type of the component is

correctly defined. If so, it could be

a circular definition. The type of a

component could not refer to its

own record type.

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1993HAC020738-001 Revision: K

40115, Type definition error

Description

Cannot determine

type of alias arg

(circular type definitions?)

Recommended actions

Check that the type of the alias is

correctly defined. If so, it could be

a circular definition, the type of an

alias could not refer to a record that

use this alias as a component.

40116, Reference error

Description

Record component name

arg is ambiguous

Recommended actions

At least one other object sharing the

same name as the referred component is

visible from this program position. Make

sure that all object names fulfill the

aming rules regarding uniqueness.

40117, Type definition error

Description

Place holder for

record component not allowed in

definition of named record

Recommended actions

Complete the definition or change

the data name to a place holder.

40119, Reference error

Description

Cannot use the semi-value type

arg for record components

Recommended actions

40120, Reference error

Description

Illegal reference

to installed task object

arg from shared object

Recommended actions

Install the referred object shared, or

install the referring ReaL object/

archive or RAPID module in each task

(not shared).

40121, Reference error

Description

Cannot use semi-value type for arrays

Recommended actions

40122, Reference error

Description

arg not procedure reference

Recommended actions

The specified name identifies an object other than a procedure.

Check if the desired procedure is hidden by some other object with the

same name.

40123, Argument error

Description

Argument for 'PERS' parameter arg is not a persistent reference or is

read only

Recommended actions

Make sure the argument is just a persistent or persistent parameter

reference and that it is writable.

Do not use () around the argument.

40124, Argument error

Description

Argument for 'VAR' parameter arg is not variable reference or is read

only

Recommended actions

Make sure the argument is just a variable or variable parameter

reference and that it is writable.

Do not use () around the argument.

40125, Instruction error

Description

The Interrupt number is not static variable reference, or it is shared, or

it is read only

Recommended actions

Make sure the interrupt number is just a variable or variable parameter

reference. The variable must be static and not shared. The variable may

not be read only.

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200 3HAC020738-001 Revision: K

40126, Value error

Description

Integer value arg is too large

Recommended actions

The value of the expression must be an integer value. The current

value is outside the integer range.

40127, Value error

Description

arg is not an integer value

Recommended actions

The value of the expression must be an exact integer value. The

current value has a fraction part.

40128, Reference error

Description

Reference to unknown entire data arg

Recommended actions

No data (or other object) with the specified name is visible from this

program position.

40129, Reference error

Description

Reference to unknown function arg

Recommended actions

No function (or other object) with the specified name is visible from

this program position.

40130, Reference error

Description

Reference to unknown procedure arg

Recommended actions

No procedure (or other object) with the specified name is visible from

this program position.

40131, Reference error

Description

Reference to unknown trap arg

Recommended actions

No trap (or other object) with the specified name is visible from this

program position.

40135, Syntax error.

Description

Expected arg

Recommended actions

40136, Syntax error

Description

Unexpected arg

Recommended actions

40137, Syntax error

Description

Expected arg but found arg

Recommended actions

40138, Syntax error

Description

Syntax error, stack backed up

Recommended actions

40139, Syntax error

Description

Syntax error, parsing terminated

Recommended actions

40140, Numerical value for symbol arg is out of

range.

Description

Numerical value for symbol arg is out of range.

Recommended actions

Make the value smaller

40141, String too long

Description

The string arg is too long.

Recommended actions

Make the string shorter.

40142, TxId is out of range

Description

The Text identifier arg is out of range.

6 Trouble shooting by Event log

2013HAC020738-001 Revision: K

Recommended actions

40143, Aggregate is out of range

Description

The aggregate arg is out of range.

Recommended actions

Make the aggregate smaller

40144, Integer out of range

Description

The integer arg is out of range.

Recommended actions

Make the integer smaller.

40145, Parser stack is full

Description

The parser stack is full.

Recommended actions

Reduce program complexity

40146, Not enough heap space.

Description

There is not enough heap space to fulfill the action.

Recommended actions

Rewrite your program

40147, Identifier is reserved word in current

language

Description

The identifier arg is a reserved word in current language.

Recommended actions

Change the name of the identifier

40148, Identifier too long

Description

The name of the identifier arg is too long.

Recommended actions

Rename the identifier with a shorter name.

40149, Placeholder too long

Description

The placeholder arg is too long.

Recommended actions

Rename the placeholder with a shorter name.

40150, Unexpected unknown token

Description

Unexpected unknown token.

Recommended actions

Remove the unknown token.

40151, Initial value of PERS not updated.

Description

The initial value of PERS: arg will not be updated.

A PERS with the same name in another task has already an initial value

of the PERS.

Recommended actions

Check the value in the Program Data window to see that the PERS

have the correct value.

if necessary, unload modules with that PERS from all tasks and reload

with new initial value.

The PERS is of type: arg.

40152, Data declaration error

Description

TASK illegal in routine variable declaration

Recommended actions

Only program data declarations may have the TASK attribute. Remove

the TASK attribute or move the declaration outside of the routine.

40155, Argument error

Description

Task arg: Argument for

'PERS' parameter arg is not

persistent reference or is read only

Recommended actions

Make sure the argument is just a persistent or persistent parameter

reference and that it is writable. Do not use () around the argument.

40156, Argument error

Description

Task arg: Argument for 'VAR' parameter arg is not variable reference

or is read only

Recommended actions

Make sure the argument

is just a variable or variable

parameter reference and that

it is writable.

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202 3HAC020738-001 Revision: K

Do not use () around the argument.

40157, Instruction error

Description

Task arg: Interrupt number is not a static variable reference,

is shared, or is read only.

Recommended actions

Make sure the interrupt number is just

a variable or variable parameter

reference. The variable must be

static and not shared. The variable may

not be read only.

40158, Value error

Description

Task arg: Integer value

arg too large

Recommended actions

The value of the expression must be an

integer value. The current value is

outside the integer range.

40159, Value error

Description

Task arg: arg not

integer value

Recommended actions

The value of the expression must be an

exact integer value. The current value

has a fraction part.

40160, Errors in RAPID program.

Description

Task arg: There are errors in the RAPID program.

Recommended actions

Check for RAPID errors using Check program

in the Program editor and correct

the program.

40161, Option is missing.

Description

The instruction arg requires the option arg.

Consequences

The program will not execute properly.

Probable causes

The system image doesn't include the required option.

Recommended actions

Update the system image with the required option.

40162, Errors in RAPID program.

Description

Task arg: There are errors in the RAPID program.

Recommended actions

Take the following actions to be able to debug the program:

1 Change the type of the task to NORMAL.

2 Restart the controller.

3 Check for RAPID errors and correct the program.

40165, Reference error

Description

Task arg: Reference to

unknown entire data arg

Recommended actions

No data (or other object) with the

specified name is visible from this

program position.

40166, Reference error

Description

Task arg: Reference to unknown function arg

Recommended actions

No function (or other object) with the

specified name is visible from this

program position.

40168, Reference error

Description

Task arg: Reference to unknown procedure arg

Recommended actions

No procedure (or other object) with the specified name is visible from

this program position.

To avoid run time errors like this, add code in error handler to handle

this.

ERRNO will be set to "ERR_REFUNKPRC".

40170, Reference error

Description

Task arg: Reference to unknown trap arg

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Recommended actions

No trap (or other object) with the

specified name is visible from this

program position.

40171, Reference error

Description

Task arg:

Reference to unknown data (or other object) found during execution of

module arg.

Recommended actions

Check the program for unresolved references.

40172, Reference error

Description

Task arg:

Reference to unknown module arg.

Recommended actions

No module (or other object) with the specified name is visible from

this program position. Check the program for incorrect module

reference or if the module is missing.

40173, Reference error

Description

Task arg:

Reference to object arg that is not a module.

Recommended actions

The specified name identifies an object other than a module.

Check the program for incorrect module reference.

40174, Reference error

Description

Task arg:

Reference to module arg is ambiguous.

Recommended actions

At least one other object sharing the same name as the referred module

is visible from this program position. Make sure that all object names

fulfill the naming rules regarding uniqueness.

40175, Reference error

Description

Task arg:

Reference to procedure arg is ambiguous.

Recommended actions

At least one other object sharing the same name as the referred

procedure is visible from this program position. Make sure that all

object names fulfill the naming rules regarding uniqueness.

40191, Instruction error

Description

Task arg: Variable and trap

routine already connected

Recommended actions

It is not legal to connect a specific

variable with a trap routine

more than once.

40192, Argument error

Description

Task arg: arg

is second present conditional argument

for excluding parameters

Recommended actions

Arguments may not be present for more

than one parameter from a list of

parameters that exclude each other.

40193, Execution error

Description

Task arg: Late binding

procedure call error arg

Recommended actions

There is an error in the procedure call

instruction. See previous message for

the actual cause.

40194, Value error

Description

Task arg: Division by zero

Recommended actions

Cannot divide by 0. Rewrite the program

so that the divide operation is not

executed when the divisor is 0.

40195, Limit error

Description

Task arg:

The configured maximum

number of RETRYs (arg retries)

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204 3HAC020738-001 Revision: K

is exceeded.

Recommended actions

The error correction performed before

the RETRY instruction is executed, is

probably not enough to cure the error.

Check the error handler.

40196, Instruction error

Description

Task arg: Attempt to

execute place holder

Recommended actions

Remove the place holder or the

instruction containing it, or make the

instruction complete. Then continue

execution.

40197, Execution error

Description

Task arg: Function does not

return any value

Recommended actions

The end of the function has been reached

without a RETURN instruction being

executed. Add a RETURN instruction

specifying a function return value.

40198, Value error

Description

Task arg: Illegal

orientation value

arg

Recommended actions

Attempt to use illegal orientation

(quaternion) value

40199, Value error

Description

Task arg: Illegal error number arg in arg.

Recommended actions

Use error numbers in the range 1-90 or book error numbers with the

instruction BookErrNo.

40200, Limit error

Description

Task arg: No more interrupt

number available

Recommended actions

There is a limited number of interrupt

numbers available. Rewrite the program

to use fewer interrupt numbers. This

message may also occur as a consequence

of a system error.

40202, Type error

Description

Task arg: Dimensions arg

and arg of conformant array

dimension number arg are incompatible

Recommended actions

The array is not of the expected size.

Array assignment may only be performed

on arrays of identical size.

40203, Reference error

Description

Task arg: Optional

parameter arg not present

Recommended actions

The value of a non-present optional

parameter may not be referred. Use the

predefined function 'Present' to check

the presence of the parameter before

using its value.

40204, Value error

Description

Task arg: Array index arg

for dimension number arg out of bounds

(1-arg)

Recommended actions

The array index value is non-positive or

violates the declared size of the array.

40205, Value error

Description

Task arg: Rapid String arg too long

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2053HAC020738-001 Revision: K

Recommended actions

String value exceeds the maximum allowed length. Rewrite the

program to use strings of less length.

40206, Interrupt queue full

Description

Execution of all normal tasks has stopped. Too many interrupts has

occurred in arg while executing a trap routine.

Consequences

The system goes to blocked state and can not be restarted before

moving the program pointer to an arbitrary position.

Probable causes

Too many interrupts has occurred while executing a trap routine. This

can be caused by heavy CPU load.

Recommended actions

1) Minimize execution time in the trap routine.

2) Disable/enable interrupts while executing a trap routine using the

Isleep or Iwatch commands.

40207, Value error

Description

Task arg: Illegal error number arg in arg

Recommended actions

Error numbers used in an ERROR handler must be positive.

40208, Error event queue full

Description

Task arg: The program was already executing an error event when a

new event occurred.

Recommended actions

Attend the cause of the error event and restart the program.

40209, Error context already consumed

Description

An error event in task arg has occurred. The context of the RAPID

instruction that has generated this event is however already consumed.

No error handling is therefore possible to execute.

Recommended actions

Attend the cause of the error event and restart the program.

40210, Interrupt removed from queue

Description

All interrupts have been deleted from the interrupt queue in task arg.

Consequences

No trap routines, connected with the interrupt, may be executed.

Probable causes

-The program has been stopped

-A service routine or an event routine may be executing.

-The program is executing in step mode.

Recommended actions

40221, Execution error

Description

Task arg: Execution aborted

Recommended actions

Execution was aborted due to a fatal

error.

40222, Limit error

Description

Task arg: Execution stack

overflow

Recommended actions

The program is too complex to execute.

Probably the program contains recursive

routines.

40223, Execution error

Description

The execution of task arg has been stopped by a runtime error.

Consequences

The program execution is immediately halted.

Probable causes

The program error is considered UNRECOVERABLE so no error

recovery attempt by an error handler routine (if used) was allowed. The

actual cause of the error may vary, and is likely to be specified in an

event log message logged simultaneously as this one.

Recommended actions

1) Check other event log messages logged simultaneously to determine

the actual cause.

40224, Execution error

Description

Task arg: Illegal return

code arg from ReaL routine

This is always caused by an internal

error in the ReaL routine.

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Recommended actions

40225, Execution error

Description

Task arg: Execution could

not be restarted

Execution of the program could not be

continued after power failure.

Recommended actions

Restart the program.

40226, Name error

Description

Task arg: Procedure name

arg

is not a RAPID identifier excluding

reserved words

Recommended actions

The procedure name, must be a legal

RAPID identifier not equal to any of

the reserved words of the RAPID

language. Change the name expression.

40227, Limit error

Description

Task arg : Runtime stack

overflow

The program is too complex to execute.

Probably the program contains recursive

routines.

Recommended actions

40228, Execution error

Description

The execution of task arg has been stopped by a runtime error arg.

Consequences

The program execution is immediately halted.

Probable causes

The program error is considered RECOVERABLE but the error was

not recovered. The actual cause of the error may vary, and is likely to

be specified in an event log message logged simultaneously as this one.

Recommended actions

1) Check other event log messages logged simultaneously to determine

the actual cause.

40229, Execution error

Description

Task arg : Unhandled error

Recommended actions

An error occurred in called instruction but was not handled by any

ERROR clause in the program.

Check the previous error or warning in the common log for the cause.

40230, Execution error

Description

Task arg: Unhandled

non-fatal runtime error

Recommended actions

A non-fatal runtime error has occurred

but was not handled by any ERROR

clause.

40241, Value error

Description

Task arg: Array dimension

number arg out of range (1-arg)

Recommended actions

The value of the 'DimNo' parameter of

the 'Dim' function must be an integer

value in the specified range.

40242, Type error

Description

Task arg: Data is not an array

Recommended actions

The 'DatObj' parameter of the 'Dim' function must be an array.

40243, Value error

Description

Task arg: Unknown interrupt

number

Recommended actions

Check that the specified interrupt

variable has been initialized by

CONNECT, and that the interrupt has been

defined using the ISignalDI or other

interrupt definition instruction.

6 Trouble shooting by Event log

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40244, Value error

Description

Task arg:

Object arg is of non-value type

Recommended actions

Use expression or data object of value or semivalue type.

40245, Parameter error

Description

Parameters in arg

and arg is not

matching (late binding)

Recommended actions

Make sure that all procedures that are

called from the same late binding node

have matching parameters. I.e. they

should be matching concerning base type,

mode and required/optional parameters.

40246, Cannot Deactivate Safe Interrupt

Description

Task: arg

It is not possible to deactivate a Safe Interrupt with the instruction

ISleep.

Program ref. arg

Recommended actions

Recovery: arg

40251, Name error

Description

Task arg: Ambiguous symbol

name arg

Recommended actions

Installed objects must have names that

are unique. Rename the object or change

the conflicting name.

40252, Limit error

Description

Task arg: Error arg when

creating sdb entry for arg

Recommended actions

An error occurred when the persistent

was to be inserted into the shared

database. Probably the database is full.

40253, Type definition error

Description

Task arg: Alias

arg of alias

arg not allowed

Recommended actions

It is not possible to define an alias

type equal to another alias type.

Instead, define two alias types equal to

the same atomic or record type.

40254, Symbol definition error

Description

Task arg: 'ANYTYPE#'

parameter arg cannot be

dimensioned

Recommended actions

Remove the dimension specification.

'ANYTYPE#' includes array types.

40255, Symbol definition error

Description

Task arg: 'ANYTYPE#' only

allowed for parameter (not for

arg)

Recommended actions

Use another type.

40256, Parameter error

Description

Task arg: 'alt' must not be

set for first optional parameter

arg in alternatives list

Recommended actions

Make sure that only the second and

following in each list of excluding

optional parameters are marked as

alternatives.

40257, Parameter error

Description

Task arg: REF mode

parameter arg cannot be

dimensioned

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Recommended actions

Remove the array dimension

specification, or change the mode of the

parameter.

40258, Parameter error

Description

Task arg: 'switch'

parameter arg can not be

dimensioned

Recommended actions

Remove the array dimension

specification, or change the data type

of the parameter.

40259, Parameter error

Description

Task arg: 'switch'

parameter arg must have

transfer mode IN (specified value

arg)

Recommended actions

Remove the parameter transfer mode

specifier. If IN transfer mode is not

sufficient, change the data type of the

parameter.

40260, Symbol definition error

Description

Task arg: 'switch' only

allowed for optional parameter

(not for arg)

Recommended actions

Change the parameter into an optional

parameter, or change the data type of

the parameter. If the object is not a

parameter, change the data type.

40261, Type definition error

Description

Task arg: Value type class

for arg must be one of

REAL_SYMVALTYP_VAL, _SEMIVAL, _NONVAL or

_NONE (specified value arg)

Recommended actions

Change the value type class.

40262, Data declaration error

Description

Task arg: Too many array

dimensions for arg

(specified value arg)

Recommended actions

An array may have at most 3 dimensions.

40263, Name error

Description

Task arg: Symbol name

arg

is not a RAPID identifier excluding

reserved words

Recommended actions

The names of installed objects,

including parameters and components,

must be legal RAPID identifiers not

equal to any of the reserved words of

the RAPID language. Change the name.

40264, Symbol definition error

Description

Task arg: Missing C

function for arg

Recommended actions

A C-function that executes the ReaL

function being defined, must be

specified.

40265, Symbol definition error

Description

Task arg: Missing value

initialization function for

arg

Recommended actions

A value initialization function must be

specified.

40266, Reference error

Description

Task arg: arg

is not a data type name (object

arg)

The specified name identifies an object

6 Trouble shooting by Event log

2093HAC020738-001 Revision: K

other than a type.

Recommended actions

40267, Reference error

Description

Task arg: arg

is not a value data type (object

arg)

Only record components, alias types,

variables and 'VAR' mode parameters may

be of semi-value or non-value type.

Recommended actions

40268, Symbol definition error

Description

Task arg: Missing value

conversion function for arg

Recommended actions

A value conversion function must be

specified for a semi-value type.

40269, Symbol definition error

Description

Task arg: Not enough

memory for value of data

arg

Recommended actions

More memory required.

40270, Type definition error

Description

Task arg: Private type

arg can only be semi-value

or non-value type (specified value

arg)

Recommended actions

Change the value type class.

40271, Type definition error

Description

Task arg: Private type

arg size must be multiple

of 4 (specified value arg)

Recommended actions

All RAPID types must have a size that is

a multiple of four. Change the specified

type size.

40272, Type error

Description

Task arg: Persistent type

mismatch for arg

Recommended actions

There is already a persistent data with

the same name but with another data

type. Rename the persistent, or change

its data type.

40273, Reference error

Description

Task arg: Unknown data type

name arg for

arg

Recommended actions

There is no data type (or other object)

with the specified name.

40274, Parameter error

Description

Task arg: Unknown parameter

transfer mode arg for

arg

Recommended actions

The specified parameter transfer mode is

not one of IN, 'VAR', 'PERS', 'INOUT' or

REF. Use corresponding REAL_SYMPARMOD_x.

40275, Symbol definition error

Description

Task arg: Unknown symbol

definition type arg

The symbol definition type tag does not

specify one of the allowed symbol

types (REAL_SYMDEF_x).

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Recommended actions

40277, Undo Aborted

Description

Task arg

The program execution was stopped while processing the UNDO

statements.

UNDO was not fully executed.

The routine arg was executing when UNDO was stopped.

Recommended actions

If the processing of UNDO takes too long, try to remove time-

consuming

instructions such as TPWrite from the UNDO-clause.

If the undo processing never seems to finish, make sure any loops in

the undo-statements are correct.

40278, Undo Aborted

Description

Task arg

The processing of UNDO was aborted due to an EXIT-statement in the

routine arg.

UNDO was not fully executed.

Recommended actions

40279, Undo Aborted

Description

Task arg

The processing of UNDO was aborted due to a run-time error in

routine arg.

UNDO was not fully executed.

Recommended actions

Investigate the cause of the error.

40280, Undo Aborted

Description

Task arg

The instructions BREAK, RAISE, RETURN and STOP are not

allowed to use in an

undo-clause or any routine that is called from an undo-clause.

The instruction arg was found in UNDO context when

executing the routine arg.

Recommended actions

Avoid executing the instruction when in undo-context.

40281, Undo Aborted

Description

Task arg

The program execution of UNDO statements was aborted due to edit

operation.

40301, File access error

Description

Task arg is trying to access file arg, but failing.

Consequences

No data in the file may be accessed.

Probable causes

File may be write protected.

Recommended actions

1) Check if the file is write protected, and in such case change the

setting.

40302, File access error

Description

Task arg is trying to access file arg, but does not find file or directory.

Consequences

If the missing file is a module, no automatic loading to a task is

possible.

Probable causes

-File may not have been correctly copied to the target directory.

-File or directory may have incorrect name.

Recommended actions

1) Make sure the file and directory names are correct.

40303, File access error

Description

Task arg is trying to access file arg, but failing.

Consequences

No data in the file may be accessed.

Probable causes

No storage space available on device.

Recommended actions

1) Make sure there is enough storage space available.

40304, File access error

Description

Task arg is trying to access file arg, but failing.

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Consequences

No data in the file may be accessed.

Probable causes

-File may be write protected.

-File or directory may have incorrect name.

-No storage space available on device.

Recommended actions

1) Check if the file is write protected, and in such case change the

setting.

2) Make sure the file and directory names are correct.

3) Make sure there is enough storage space available.

40322, Load error

Description

Task arg: RAPID syntax

error(s) in file

arg

Recommended actions

The source file to be loaded contains

RAPID syntax errors. Correct the source

file.

40323, Load error

Description

Task arg: Syntax error(s)

in header in file

arg

Recommended actions

The source file to be loaded contains

syntax error in the file header. Correct

the source file. The syntax errors are

logged in a separate file.

40324, Load error

Description

Task arg: Keywords not

defined in specified language (file

arg)

Recommended actions

Cannot load RAPID source code in the

national language specified in the file

header.

40325, Load error

Description

Task arg:

A big enough free program memory block is not available. The ordered

operation could not be completed.

Probable causes

The program memory is full or fragmentated.

Recommended actions

Check if large data structures could be split into smaller blocks.

Use of installed modules can save program memory.

40326, Load error

Description

Task arg : Parser stack

full (file

arg)

Recommended actions

The program is too complex to load.

40327, Load error

Description

Task arg: Not current RAPID

version (file

arg)

Recommended actions

Cannot load RAPID source code of the

version specified in the file header.

40328, Load error

Description

Task: arg

Program memory is full.

arg

Recommended actions

The module arg could not be loaded because the program memory is

full.

Recovery: arg

40329, Module installation failure

Description

Task: arg It is not possible to install a module from file arg.

Consequences

The module will not be installed.

Probable causes

The RAPID module may have RAPID errors.

Recommended actions

1) Check the event messages in the Elog domain RAPID

2) Correct the RAPID errors and make a P-start.

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40330, Rapid errors in installed module

Description

Task: arg. Module (line/column): arg

There is an error with symbol: arg.

Consequences

The module will not be installed.

40331, Type error

Description

Operand types arg and arg for the '/', 'DIV' or 'MOD' operator not

equal

Recommended actions

The two operands of the '/', 'DIV' or 'MOD' operators must have equal

type. Check the operand types.

40332, Type error

Description

Operand types arg and arg for the '<', '<=', '>' or '>=' operator not

equal

Recommended actions

The two operands of the '<', '<=', '>' or '>=' operators must have equal

type. Check the operand types.

40351, Memory allocation error

Description

Task arg: Failed to

allocate hash table, use linear list

Recommended actions

40352, Memory allocation error

Description

Task arg: Failed to

update persistent expression, keep old

one

Recommended actions

40353, Mechanical Unit arg Missing!

Description

The mechanical unit component of the workobject arg is faulty.

Probable causes

- No mechanical unit is defined.

- The mechanical unit defined can not be found.

- The robot can not move the workobject by itself.

Recommended actions

Check the mechanical unit component of the workobject.

40354, A copy of a dynamic loaded module has

been saved.

Description

Task: arg

A dynamic loaded module arg has been changed.

The module is lost when PP is set to main.

A copy of the changed module is saved on arg

Probable causes

- A dynamic loaded module has been changed.

- PP is set to main.

- The dynamic loaded module is removed.

- A copy of the changed module is saved.

Recommended actions

If the changes shall be saved, replace the original file with the copy.

40355, A Stop/QStop event routine has been

stopped.

Description

Task: arg

A arg event routine has been stopped by an external stop command.

Any running Stop/QStop event routines will be stopped after arg ms

when controller receives second stop command.

Recommended actions

Keep all event routines short and free from RAPID instructions of type

WaitTime, WaitDI, etc.

40357, Missing Error Handler

Description

There is no error handler that deals with the process error for task arg.

Consequences

The program will not be able to execute past the next move instruction.

Probable causes

The error handler is missing.

Recommended actions

Add an error handler. The error handler should include the StartMove

(StartMoveRetry) instruction.

40358, RMQ message discarded

Description

A RMQ message was discarded in task arg. arg received a RMQ

message that couldn't be handled.

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Consequences

The RMQ message was discarded without any notification to the

sender.

Probable causes

There can be several different reasons.

1. No interrupt is connected to the type of the received message.

2. No interrupt could be created because the interrupt queue was full.

3. The received message was corrupt.

Recommended actions

Make sure that the task has connected an interrupt to all types of

messages that is possible to receive. Read about IRMQMessage in the

RAPID reference maunal.

40502, Digital Input Break

Description

Task: arg

A digital input interrupted the execution.

Program Ref. arg

Recommended actions

Recovery: arg

40504, Parameter error

Description

Task: arg

arg

Recommended actions

Recovery: arg

40506, System Access Error

Description

Task: arg

arg

Recommended actions

Recovery: arg

40507, Limit Error

Description

Task: arg

Can not step further back on path arg.

Program Ref. arg

Recommended actions

Recovery: arg

40508, Orientation Value Error

Description

Task: arg

Wrong orientation value in arg.

Program Ref. arg

Recommended actions

All used orientations must be normalized, i.e. the sum of the

quaternion elements squares must equal 1.

40511, Parameter Error

Description

Task: arg

The parameter arg in arg is specified with a negative value.

Program Ref. arg

Recommended actions

The parameter must be set to a positive value.

40512, Missing External Axis Value

Description

Some active external axis have incorrect or no order value.

Recommended actions

Reprogram the position.

40513, Mechanical Unit Error

Description

Task: arg

Not possible to activate or deactivate mechanical unit. Previous

message may contain more information.

Program Ref. arg

40514, Execution Error

Description

Task: arg

The robot is too far from path to perform StartMove of the interrupted

movement.

Program Ref. arg

Recommended actions

Position the robot to the interrupted position in the program.

Recovery: arg

40515, Type Error

Description

Task: arg

Illegal data type of argument for parameter arg.

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Recommended actions

Change the parameter to a legal type. Make sure the value type is value

or semivalue.

40518, Type Error

Description

Task: arg

Expected type differs from read type in arg.

Program Ref. arg

Recommended actions

Check the type in the argument.

40519, End Of File

Description

Task: arg

End of file was found before all bytes were read in arg.

Program Ref. arg

Recommended actions

Recovery: arg

40522, Limit Error

Description

Task: arg

Stop watch overflow.

Program Ref. arg

Recommended actions

Recovery: arg

40523, Mechanical Unit Conflict

Description

Not possible to deactivate mechanical unit arg due to the

configuration.

Recommended actions

Check the configuration.

40524, Conveyor Access Error

Description

Task: arg

The conveyor is not activated.

Program Ref. arg

Recommended actions

Recovery: arg

40525, Conveyor Access Error

Description

Task: arg

No single number defined.

Program Ref. arg

40526, Conveyor Access Error

Description

Task: arg

The mechanical unit arg is not a single.

Program Ref. arg

40527, File Access Error

Description

Task: arg

Unable to open arg.

Program Ref. arg

Probable causes

- The I/O device reference is already in use.

Recommended actions

- If the I/O device reference is already in use, close it or use another.

Recovery: arg

40528, File Access Error

Description

Task: arg

File or serial channel is not open.

ProgramRef. arg

Probable causes

- The I/O device reference is not open, or has already been closed

Recommended actions

- Check that device is open

Recovery: arg

40529, File Access Error

Description

Task: arg

Could not access the file arg.

Program Ref. arg

Probable causes

- The path or filename is wrong.

- The I/O device reference is already in use.

- The maximum number of simultaneously opened files is exceeded.

- The disk is full.

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Recommended actions

- Check the path or filename.

- If the I/O device reference is already in use, close it or use another.

- Check the disk space.

Recovery: arg

40530, Parameter Error

Description

Task: arg

The number of characters, parameter arg in WriteBin, you want to

write to the serial channel is greater than the size of the array

containing the characters to be written.

Program Ref. arg

Recommended actions

Make the array bigger or decrease the parameter.

40531, Parameter Error

Description

Task: arg

The array arg in WriteBin is smaller than 0 or greater than 255.

Program Ref. arg

Recommended actions

Change the size of the array to be 0 - 255.

40534, Timeout

Description

Task: arg

A timeout interrupted the execution.

Program Ref. arg

Recommended actions

Recovery: arg

40535, Type Error

Description

Task: arg

The data you was trying to read in the file was not a numeric type.

Program Ref. arg

Recommended actions

Recovery: arg

40536, System Access Error

Description

Task: arg

Too many pending read requests.

Program Ref. arg

40537, File Access Error

Description

Task: arg

The serial channel is not open, or you are trying to use the instruction

on a file.

Program Ref. arg

Recommended actions

- Open the serial channel.

- Check that the instruction is used on a serial channel.

Recovery: arg

40538, Max Time Expired

Description

Task: arg

The programmed waiting time has expired.

Program Ref. arg

Recommended actions

Recovery: arg

40539, System Access Error

Description

Task: arg

Not allowed option in this task.

Program Ref. arg

40540, File Access Error

Description

Task: arg

arg is not a directory.

ProgramRef. arg

Recommended actions

Check that the path is the correct path to the directory you want to

open.

Recovery: arg

40541, File Access Error

Description

Task: arg

Directory arg is not accessible.

Program Ref. arg

Recommended actions

Check the directory you are trying to open.

Recovery: arg

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40542, File Access Error

Description

Task: arg

Could not access the file system arg.

Program Ref. arg

Recommended actions

- Check the path and filename.

Recovery: arg

40543, File Access Error

Description

Task: arg

You can not open arg.

Program Ref. arg

Probable causes

There are too many directories already open.

Recommended actions

Close one of the already open directories.

Recovery: arg

40544, File Access Error

Description

Task: arg

Could not create the directory arg.

Program Ref. arg

Recommended actions

- Check the path.

- Check write and execute permission for the directory under which the

new directory should be created.

Recovery: arg

40545, File Access Error

Description

Task: arg

Could not remove the directory arg.

Program Ref. arg

Recommended actions

- Check the path.

- Check write and execute permission for the directory under which the

directory you want to remove is located.

Recovery: arg

40546, File Access Error

Description

Task: arg

Could not remove the file arg.

Program Ref. arg

Recommended actions

- Check the path.

- Check if you have write permission for the file.

- Check write and execute permission for the directory under which the

file you want to remove is located.

Recovery: arg

40547, File Access Error

Description

Task: arg

Could not rename the file arg.

Program Ref. arg

Recommended actions

- Check the path.

- Check write permission for the file you want to rename.

- Check write and execute permission for the directory under which the

file you want to remove is located.

Recovery: arg

40548, File Access Error

Description

Task: arg

Could not copy the file arg.

Program Ref. arg

Recommended actions

- Check the path.

- Check write permision for the directory that you want to copy the file

to.

- Check the available space.

Recovery: arg

40549, System Access Error

Description

Task: arg

Unknown mechanical unit arg.

The data of type mecunit is unknown for the system.

Program Ref. arg

Probable causes

Data of type mecunit has been declared in the program.

Recommended actions

Remove the declaration of mecunit data in the program and use one of

the predefined data of type mecunit (automatic defined by the system).

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40555, I/O Error

Description

Task: arg

Unable to read I/O signal.

Program Ref. arg

40556, I/O Error

Description

Task: arg

Unable to write I/O signal.

Program Ref. arg

40557, I/O Error

Description

Task: arg

Configuration error for I/O signal.

Program Ref. arg

Recommended actions

Check the IO signal configuration or alias definition.

40558, I/O Error

Description

Task: arg

Unable to read the I/O signal arg in unit arg.

Program Ref. arg

40559, I/O Error

Description

Task: arg

Unable to write to the I/O signal arg in unit arg.

Program Ref. arg

40560, System Access Error

Description

Task: arg

Can't save program module arg.

Program Ref. arg

40561, System Access Error

Description

Task: arg

arg is not a module name.

Program Ref. arg

Consequences

You can not unload, save or erase this module.

Recommended actions

Check the name of the module.

40562, Parameter Error

Description

Task: arg

Unknown axis number for the mechanical unit arg.

Program Ref. arg

Recommended actions

Check the value for argument AxisNo.

Recovery: arg

40563, System Access Error

Description

Task: arg

Mechanical unit arg is not active.

Program Ref. arg

Recommended actions

Activate the mechanical unit.

Recovery: arg

40564, Argument Error

Description

Task: arg

Orientation definition error.

GripLoads attach frame in tool or work object (user + object) is

unnormalized.

Program Ref. arg

Recommended actions

Check the orientation. All used orientations must be normalized i.e. the

sum of the quaternion elements squares must equal 1.

40565, Parameter Error

Description

Task: arg

Both arguments must be > 0.

Program Ref. arg

Recommended actions

Check the value of the arguments.

40566, Parameter Error

Description

Task: arg

Both arguments must be > 0 and <= 100.

Program Ref. arg

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Recommended actions

Check the value of the arguments.

40567, Parameter Error

Description

Task: arg

Quaternion error.

Program Ref. arg

Recommended actions

Check the aom component of loaddata.

40568, Parameter Error

Description

Task: arg

Axis may not have a value less than 0.

Program Ref. arg

Recommended actions

Change to a positive value.

40569, Argument Error

Description

Task: arg

The argument AccMax must be set if the argument AccLim is set to

TRUE.

Program Ref. arg

Recommended actions

Set a value to argument AccMax.

40570, Argument Error

Description

Task: arg

The argument DecelMax must be set if argument DecelLim is set to

TRUE.

Program Ref. arg

Recommended actions

Set a value to argument DecelMax.

40571, Argument Error

Description

Task: arg

The value of parameter AccMax is too low.

Program Ref. arg

Recommended actions

Increase the value of parameter AccMax.

Recovery: arg

40572, Argument Error

Description

Task: arg

The value of parameter DecelMax is too low.

Program Ref. arg

Recommended actions

Increase the value of parameter DecelMax.

Recovery: arg

40573, Argument Error

Description

Task: arg

The value of argument On is too low.

Program Ref. arg

Recommended actions

Increase the value of argument On.

Recovery: arg

40574, Search Warning

Description

Task: arg

Number of hits during search was arg.

Before performing next search, make sure that TCP is moved back to

the start position of the search path.

Program Ref. arg

Consequences

If no repositioning is done, before restart of circular search, movement

that can cause damage might occur.

Recommended actions

Recovery: arg

40576, ParId Error

Description

Task: arg

The array size of argument AxValid is not equal to number of axes.

Program Ref. arg

Recommended actions

Check the size of the array.

40577, ParId Error

Description

Task: arg

This parameter identification can not be done in this robot type.

Program Ref. arg

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40578, ParId Error

Description

Task: arg

The optional argument PayLoad is missing. For PayLoad

identification the argument must be given.

Program Ref. arg

Recommended actions

Give a value to the argument PayLoad.

40579, ParId Error

Description

Task: arg

The optional argument PayLoad may only be used for PayLoad

identification.

Program Ref. arg

Recommended actions

Remove the argument PayLoad.

40580, ParId Error

Description

Task: arg

Faulty state for LoadIdInit.

Program Ref. arg

Recommended actions

Check the whole ParId sequence.

40581, ParId Error

Description

Task: arg

Faulty state for ParIdMoveSeq.

Program Ref. arg

Recommended actions

Check the whole ParId sequence.

40582, ParId Error

Description

Task: arg

Faulty state for LoadIdInit.

Program Ref. arg

Recommended actions

Check the whole ParId sequence.

40583, ParId Error

Description

Task: arg

Backward execution not allowed.

Program Ref. arg

40584, ParId Error

Description

Task: arg

ParIdMoveSeq / Parameter NextMove:

Faulty array size.

Program Ref. arg

Recommended actions

Check the size of the array.

40585, ParId Error

Description

Task: arg

Missed argument WObj in LoadId for PayLoad with roomfix TCP.

Program Ref. arg

Recommended actions

Add argument WObj.

40586, ParId Error

Description

Task: arg

Not allowed argument WObj. The argument is only to be used for

PayLoad with roomfix TCP.

Program Ref. arg

Recommended actions

Remove argument WObj.

40587, ParId error

Description

Task: arg

ParIdMoveSeq / Parameter MoveData:

Faulty array size.

Program Ref. arg

Recommended actions

Check the size of the array.

40588, ParId Error

Description

Task: arg

ParIdMove / Parameter StartIndex:

6 Trouble shooting by Event log

220 3HAC020738-001 Revision: K

Faulty StartIndex.

Program Ref. arg

Recommended actions

Check the StartIndex.

40589, ParId Error

Description

Task: arg

ParIdMove / Parameter StartIndex:

Point at negative movetype.

Program Ref. arg

40590, ParId error

Description

arg

Recommended actions

arg

40591, Argument Error

Description

Task: arg

Unknown type of parameter identification.

Program Ref. arg

Recommended actions

Check the argument ParIdType.

40592, Program Stop During Load Identification

Description

Task: arg

No type of program stop is allowed during load identification.

Program Ref. arg

Recommended actions

Start the identification procedure from the beginning again.

Recovery: arg

40593, Power Fail During Load Identification

Description

Task: arg

A Power Fail during load identification results in faulty load result.

Program Ref. arg

Recommended actions

Restart the program execution again with the same run mode (without

PP move) for load identification from the beginning.

Recovery: arg

40594, User Error During Load Identification

Description

Task: arg

Error resulting in raise of PP to the beginning of the parameter

identification procedure.

Program Ref. arg

Recommended actions

Start the identification procedure from the beginning again.

Recovery: arg

40595, Argument Error

Description

Task: arg

Unknown type of load identification.

Program Ref. arg

Recommended actions

Check the argument LoadIdType.

40596, Program Stop During Load Identification

Description

Task: arg

Any type of program stop during load identification is not allowed.

Program Ref. arg

Recommended actions

Restart the program execution again for load identification from

beginning.

40597, Speed Override

Description

Task: arg

Speed override is not 100 percent.

Program Ref. arg

Recommended actions

- Change the speed override to 100.

- Restart the program execution again for load identification from

beginning.

40598, Program Stop during Load Identification

Description

No type of Program Stop is allowed during the Load Identification

movements.

Consequences

Not possible to complete the Load Identification sequence.

Note that some axes for the actual mechanical unit are now in

independent mode.

6 Trouble shooting by Event log

2213HAC020738-001 Revision: K

Probable causes

Interrupt of the Load Identification sequence with Program Stop or

release of the Enable Device.

Recommended actions

1) Restart the program. The Load Identification service routine will

then start from beginning.

2) Also possible to cancel the Service Routine to completly skip the

Load Identification.

40603, Argument Error

Description

Argument arg may not have a negative value.

Recommended actions

Set argument arg to a positive value.

40607, Execution Error

Description

Task: arg

Not allowed to change run mode from forward to backward or vice

versa

when running a circular movement.

Program Ref. arg

Recommended actions

If possible, select the original run mode and press start to continue the

stopped circular movement. If this is not possible, move robot and

program pointer for a new start.

40608, Argument Error

Description

Task: arg

Orientation definition error in arg.

Program Ref. arg

Recommended actions

All used orientations must be normalized i.e. the sum of the quaternion

elements squares must equal 1.

40609, Argument Error

Description

Task: arg

Argument \WObj specifies a mechanical unit with too long name.

Program Ref. arg

Recommended actions

Use max. 16 characters to specify the name of a mechanical

coordinated unit.

40611, Execution Error

Description

Task: arg

Not allowed to step backwards with this move instruction.

Program Ref. arg

Consequences

Step backwards to a position defined with another tool or work object

could result in faulty path.

Recommended actions

Check tool and work object.

40612, Argument Error

Description

Task: arg

No argument programmed for the name of the output signal.

Program Ref. arg

Recommended actions

Possible to set one position fix IO such as digital, group of digital or

analog output signals during the robot movement.

40613, Argument Error

Description

Task: arg

Optional argument arg can only be combined with output signal

argument arg.

Program Ref. arg

Recommended actions

Check and change the arguments.

40614, Argument Error

Description

Task: arg

Argument arg is not 0 or 1.

Program Ref. arg

Recommended actions

Digital signals can only be set or checked to 0 or 1.

40615, Argument Error

Description

Task: arg

Argument arg is not an integer value.

Program Ref. arg

Recommended actions

Digital group of in/out signals, process identity or process selector can

only have an integer value.

6 Trouble shooting by Event log

222 3HAC020738-001 Revision: K

40616, Argument Error

Description

Task: arg

Argument arg is outside allowed limits.

Program Ref. arg

Recommended actions

Used group of digital in/out signals can only be set or checked within

0 to arg according to configuration in system parameters.

Recovery: arg

40617, Argument Error

Description

Task arg:

One of the arguments SetValue, SetDvalue, ScaleValue, CheckValue

or CheckDvalue is outside allowed limits.

Program Ref. arg

Probable causes

The analog signal can only be set/checked within arg to arg according

to the I/O system parameter configuration.

Recommended actions

Check the RAPID program or the I/O configuration.

Recovery: arg

40620, Argument Error

Description

Task: arg

Argument arg have too large negative value.

Program Ref. arg

Recommended actions

Set argument arg to arg or more.

40622, Argument Error

Description

Task: arg

The value of argument Time is too low for cyclic interrupts.

Program Ref. arg

Recommended actions

Change the value for Time, to a value greater than or equal to 0.1 s.

40623, Argument Error

Description

Task: arg

The value of argument Time is too low for single interrupts.

Program Ref. arg

Recommended actions

Change the value for Time to a value greater than or equal to 0.01 s.

40624, Argument Error

Description

Task: arg

Argument arg is not between 0 and 2.

Program Ref. arg

Recommended actions

Specify the flank to generate the interrupt.

0 = Negative flank (high -> low).

1 = Positive flank (low -> high).

2 = Both negative and positive flank.

40625, Limit Error

Description

Task: arg

The robot is outside its limits.

Program Ref. arg

Probable causes

- Axis outside working area.

- Limits exceeded for at least one coupled joint.

Recommended actions

Recovery: arg

40631, Instruction Error

Description

Task: arg

Too many move instructions in sequence with concurrent RAPID

program execution.

Program Ref. arg

Recommended actions

Edit the program to max. 5 MoveX \Conc in sequence on the basic

execution level of the program.

40632, Instruction Error

Description

Task: arg

No move instructions with concurrent RAPID program execution are

allowed within the StorePath-RestoPath part of the program.

Program Ref. arg

Recommended actions

Edit the program so it does not contain any MoveX \Conc instructions

within the StorePath-RestoPath part of the program.

6 Trouble shooting by Event log

2233HAC020738-001 Revision: K

40634, Reference Error

Description

Task: arg

The signal arg is unknown in the system.

Program Ref. arg

Probable causes

If the signal is defined in the RAPID program, it must be connected to

the configured signal with instruction AliasIO.

Recommended actions

All signals (except AliasIO signals) must be defined in the system

parameters and can not be defined in the RAPID program.

40636, Sensor Error

Description

Task: arg

No measurement from sensor.

Program Ref. arg

Recommended actions

Requested data is not available.

Recovery: arg

40637, Sensor Error

Description

Task: arg

Not ready yet.

Program Ref. arg

Recommended actions

Requested function is not ready yet.

Recovery: arg

40638, Sensor Error

Description

Task: arg

General error.

Program Ref. arg

Recommended actions

General error has occurred which is not specifically connected to the

requested action. Read the block "Error log" if the function is

available.

Recovery: arg

40639, Sensor Error

Description

Task: arg

Sensor busy, try later.

Program Ref. arg

Recommended actions

The sensor is busy with an other function.

Recovery: arg

40640, Sensor Error

Description

Task: arg

Unknown command.

Program Ref. arg

Recommended actions

The function requested from the sensor is unknown.

Recovery: arg

40641, Sensor Error

Description

Task: arg

Illegal variable or block number.

Program Ref. arg

Recommended actions

Requested variable or block is not defined in the sensor.

Recovery: arg

40642, Sensor Error

Description

Task: arg

External alarm.

Program Ref. arg

Recommended actions

Alarm from external equipment.

Recovery: arg

40643, Sensor Error

Description

Task: arg

Camera alarm.

Program Ref. arg

Recommended actions

Some error has been detected in the camera. Run Camcheck to test if

the

camera is OK.

Recovery: arg

6 Trouble shooting by Event log

224 3HAC020738-001 Revision: K

40644, Sensor Error

Description

Task: arg

Temperature alarm.

Program Ref. arg

Recommended actions

The camera is overheated it needs more cooling air or water.

Recovery: arg

40645, Sensor Error

Description

Task: arg

Value out of range.

Program Ref. arg

Recommended actions

The value of the data sent to the sensor is out of range.

Recovery: arg

40646, Sensor Error

Description

Task: arg

Camera check failed.

Program Ref. arg

Recommended actions

The CAMCHECK function failed. The camera is broken. Send it for

repair.

Recovery: arg

40647, Sensor Error

Description

Task: arg

Communication time out.

Program Ref. arg

Recommended actions

Increase the time out time and check the connections to the sensor.

Recovery: arg

40648, Search Error

Description

Task: arg

Not allowed to do StorePath while searching is active on motion base

path level.

Program Ref. arg

Consequences

Program is stopped.

Probable causes

Executing of instruction StorePath while searching is active.

Recommended actions

Not possible to use StorePath in TRAP, event or service routine while

searching is active on motion base path level.

If using interupts in the program for execution of TRAPs, such

interrupt must be deactivated during any search.

E.g. ISleep - SearchL - IWatch

40649, Path Limitation

Description

Task: arg

arg is already done or executing. Instruction arg must first be executed,

before a new arg can be done.

Program Ref. arg

Recommended actions

Check the RAPID program.

40650, Wrong Combination Of Parameters

Description

Task: arg

Optional parameters and switches are not used in a correct

combination.

Program Ref. arg

Recommended actions

- No optional parameters and no switch keep the old coordinate

system.

- The switch Old has the same function.

- RefPos or RefNum has to be defined with Short, Fwd or Bwd.

40651, Use Numeric Input

Description

Task: arg

Use numeric input for the position instead of a robtarget.

Program Ref. arg

Recommended actions

The position can not be defined with a robtarget for robot axes.

Use the optional parameter for numeric input of the position.

40652, Axis Is Moving

Description

Task: arg

A Robot axis, an external axis or an independent axis is moving.

Program Ref. arg

Recommended actions

All Robot axes, external axes and independent axes have to stand still.

6 Trouble shooting by Event log

2253HAC020738-001 Revision: K

Use MoveL with Fine argument for the Robot and external axes.

Use IndRMove for the independent axes.

Recovery: arg

40654, Axis Not Active

Description

Task: arg

The axis destination position to move to is undefined (9E9) or

the axis to move is not active at present.

Program Ref. arg

Probable causes

1)The position to move to has been programmed or ModPos with not

active

mechanical unit

2) The mechanical unit is not active at present

Recommended actions

The mechanical unit has to be activated before programming, ModPos

or execution of this instruction.

Recovery: arg

40655, Axis Is Not Independent

Description

Task: arg

The axis is not in independent mode.

Program Ref. arg

Consequences

It is only possible to get the status from an axis in independent mode.

Recommended actions

Set the axis to independent.

Recovery: arg

40658, Parameter Error

Description

Task: arg

Parameter arg can only be used, if parameter arg is greater than zero.

Program Ref. arg

Recommended actions

Parameter arg has effect only in the first TriggX instruction, in a

sequence of several TriggX instructions, that controls the speed

proportional AO signal.

40661, Search Error

Description

Task: arg

The signal arg for the SearchX instruction is already high at the start

of searching or the I/O-unit for the signal isn't up and running for the

occasion.

Before performing next search, make sure that TCP is moved back to

the start position of the search path.

Program Ref. arg

Consequences

If no repositioning is done, before restart of circular search, movement

that can cause damage might occur.

Recommended actions

Recovery: arg

40662, Invalid Worldzone Type

Description

Task: arg

The switch \ arg must be associated with a arg worldzone.

Program Ref. arg

Recommended actions

If use of switch \Temp, the datatype must be wztemporary in

WorldZone.

If use of switch \Stat, the datatype must be wzstationary in WorldZone.

40663, World Zone Not In Use

Description

Task: arg

The argument arg of the instruction arg refers to a not used worldzone.

Program Ref. arg

Recommended actions

The worldzone must have been defined and activated by a WZLimSup

or WZDOSet instruction.

40664, World Zone Already In Use

Description

Task: arg

The ' arg ' worldzone has already been defined and activated.

A world zone can only be defined once.

Program Ref. arg

Recommended actions

Use a worldzone with another name.

40665, Too Many World Zones

Description

Task: arg

It is not possible to add the world zone arg . The world zone table is

full.

Program Ref. arg

Recommended actions

Check the RAPID program to see if any word zone might be removed.

6 Trouble shooting by Event log

226 3HAC020738-001 Revision: K

40666, Illegal World Zones

Description

Task: arg

Worldzone ' arg ' is defined locally in current routine.

Program Ref. arg

Recommended actions

Define the world zone as global or local in module.

40667, Illegal World Zones

Description

Task: arg

WorldZone arg is not entire data reference.

Program Ref. arg

Recommended actions

Check the value of argument WorldZone.

40668, Shapedata Not In Use

Description

Task: arg

The ' arg ' argument of the instruction arg must refer to a defined

shapedata.

Program Ref. arg

Recommended actions

A shapedata is used to store a volume definition. It must have been

defined

by WZBoxDef, WZSphDef or WZCylDef before it can be used by

WZLimSup or WZDOSet.

40669, World Zone Too Small

Description

Task: arg

At least one side or radius is less than the minimal allowed in

instruction arg .

Program Ref. arg

Recommended actions

Check previous volume definition instruction.

40670, Invalid World Zone

Description

Task: arg

The index of the world zone argument arg in arg is not a valid index

defined by WZLimSup or WZDOSet.

Program Ref. arg

Recommended actions

Check the RAPID program.

40671, Illegal Use Of World Zone

Description

Task: arg

The argument ' arg ' for arg must be a temporary world zone.

Program Ref. arg

Recommended actions

Check the argument..

40672, World Zone Already In Use

Description

Task: arg

It is not possible to add the world zone arg . Another world zone with

the same name is already defined in the system.

Program Ref. arg

Recommended actions

Check the name of the world zone.

40673, I/O Access Error

Description

Task: arg

The signal given in parameter arg is write protected for RAPID access.

Program Ref. arg

Recommended actions

Select other user signal or change the access mode for the signal.

40674, I/O Access Error

Description

Task: arg

The signal given in parameter arg is not write protected for user access

from teach pendant or RAPID.

Program Ref. arg

Recommended actions

Change the access mode to system type for the signal in the I/O

configuration.

40675, Execution Error

Description

Not allowed changing the run mode from forward to backward or vice

versa when running an invisible trap routine.

Recommended actions

If possible, select the original run mode and press start to continue.

40676, Parameter Error

Description

Task: arg

6 Trouble shooting by Event log

2273HAC020738-001 Revision: K

The DeltaJointVal for robot axis arg is <= 0.

Program Ref. arg

Recommended actions

Check the value for DeltaJointVal. The DeltaJointVal for all axes to

supervise must be > 0 mm or degrees.

40677, Parameter Error

Description

Task: arg

The DeltaJointVal for external axis arg is <= 0.

Program Ref. arg

Recommended actions

Check the value for DeltaJointVal. The DeltaJointVal for all axes to

supervise must be > 0 mm or degrees.

40678, Parameter Error

Description

Task: arg

LowJointVal is higher than or equal to HighJointVal for robot axis arg.

Program Ref. arg

Recommended actions

Check the values for HighJointVal and LowJointVal. The HighJointVal

must be higher than the LowJointVal for all axes with defined high or/

and low limits.

40679, Parameter Error

Description

Task: arg

LowJointVal is higher than or equal to HighJointVal for external axis

arg.

Program Ref. arg

Recommended actions

Check the values for HighJointVal and LowJointVal. The HighJointVal

must be higher than the LowJointVal for all axes with defined high or/

and low limits.

40680, Parameter Error

Description

Task: arg

Error in used WZHomeJointDef. It is not allowed to specify

supervision of not active axis arg

Program Ref. arg

Recommended actions

Set the argument MiddleJointVal to 9E9 for the actual axis.

40681, Parameter Error

Description

Task: arg

Error in used WZLimJointDef. It is not allowed to specify limitation

of not active axis arg.

Program Ref. arg

Recommended actions

Set the argument LowJointVal and HighJointVal to 9E9 for the actual

axis.

40698, Read error

Description

Task arg is trying to read file arg, but is failing.

Consequences

It was not possible to read/load arg.

Probable causes

If trying to access file on FTP mounted disc, make sure that the size of

arg isn't larger then the maximum file size configured in the FTP

protocol settings.

40699, Program Memory Full

Description

The task arg, has only arg bytes in its program memory.

Consequences

It was not possible to load module arg.

Recommended actions

1. Remove some other module and try again.

2. Check if large data structures could be split into smaller blocks

3. Use of installed modules can save program memory.

40700, Syntax Error

Description

Task: arg

Syntax error.

arg

40701, Program Memory Full

Description

The task arg , has only arg free bytes in its user space.

Consequences

The ordered operation could not be completed.

Recommended actions

1. Remove some modules and try again.

2. Check if large data structures could be split into smaller blocks

6 Trouble shooting by Event log

228 3HAC020738-001 Revision: K

3. Use of installed modules can save program memory.

40702, File Not Found

Description

Task: arg

The file arg was not found.

Program Ref. arg

Recommended actions

- Check the file path and the file name.

- Check if the file exists.

Recovery: arg

40703, Unload Error

Description

Task: arg

The program module could not be unloaded.

The reason is that the module is changed but not saved.

Program Ref. arg

Recommended actions

The instruction UnLoad:

Use the optional switch ErrIfChanged, without recover from this

situation, in an Error handler.

Recovery: arg

40704, UnLoad Error

Description

Task: arg

arg

The program module couldn't be unloaded.

Program Ref. arg

Probable causes

- Module not loaded with Load instr.

- Not same file path as used for Load

Recommended actions

- Check if the program module has been loaded with the instruction

Load.

- Check if the file path and name are the same in the UnLoad and Load

instruction.

Recovery: arg

40705, Syntax Error

Description

Task: arg

Syntax error

arg

Recommended actions

More syntax errors will follow this.

40706, Load Error

Description

Task: arg

The program module is already loaded.

Program Ref. arg

Probable causes

The module name in the head of the file arg already exists in the

program memory.

Recommended actions

Recovery: arg

40707, I/O Unit Name Invalid

Description

Task: arg

The unit name arg does not exist.

Program Ref. arg

Recommended actions

- Check if the unit name is misspelled.

- Check if the unit is defined.

Recovery: arg

40708, I/O Unit Is Not Enabled

Description

Task: arg

I/O unit arg was not enabled.

Program Ref. arg

Probable causes

The maximum period of waiting time was too short.

Recommended actions

Increase the waiting time or make a retry.

Recovery: arg

40709, I/O Unit Is Not Disabled

Description

Task: arg

I/O unit arg was not disabled.

Program Ref. arg

Probable causes

The maximum period of waiting time was too short.

Recommended actions

Increase the waiting time or make a retry.

Recovery: arg

6 Trouble shooting by Event log

2293HAC020738-001 Revision: K

40710, Argument Error

Description

Task: arg

The argument arg is an expression value, is not present or is of the type

switch.

Program Ref. arg

Recommended actions

Change the parameter arg to a valid one.

Recovery: arg

40711, Alias Type Error

Description

Task: arg

The data types for the arguments FromSignal and ToSignal must be the

same and must be of signalxx type.

Program Ref. arg

Recommended actions

Change the type to a valid one (signalai/ao, signaldi/do, signalgi/go).

Recovery: arg

40712, Event Routine Error

Description

Task: arg

Too many event routines, the routine arg will not be executed.

Recommended actions

Encapsulate the routine in one of the others that are specified for the

same event.

40713, Alias Define Error

Description

Task: arg

The signal in argument FromSignal: arg, must be defined in the IO

configuration and the signal in argument ToSignal: arg, must be

declared in the RAPID program and not defined in the IO

configuration.

Program Ref. arg

Recommended actions

Check the IO configuration and the RAPID program.

Recovery: arg

40714, Argument Error

Description

Task: arg

Orientation definition error in arg .

Program Ref. arg

Recommended actions

This is probably an off-line generated "dummy" position (undefined

orienta-

tion), which needs to be modified with modpos.

40720, Alias IO Installation

Description

The system could not refresh all IO signals as RAPID symbols.

Consequences

No IO signals can be used in a RAPID program.

Probable causes

- Incorrect IO configuration

- Incorrect task configuration

Recommended actions

Restart the controller.

40721, IO Installation

Description

Task arg:

The system could not refresh all IO signals as RAPID symbols.

Consequences

No IO signals can be used in a RAPID program.

Probable causes

- Incorrect IO configuration

- Incorrect task configuration

Recommended actions

Restart the controller.

40722, Mechanical Units

Description

The system could not refresh all mechanical units as RAPID symbols.

Consequences

No mechanical units can be used in a RAPID program.

Probable causes

- Incorrect motion configuration

- Incorrect task configuration

Recommended actions

Restart the controller.

40724, Save or Erase Error

Description

Task: arg

The program module arg could not be saved or could not be erased.

Program Ref. arg

6 Trouble shooting by Event log

230 3HAC020738-001 Revision: K

Recommended actions

- Check the spelling of the module name

- Check if the module is loaded.

Recovery: arg

40726, Reference Error

Description

Task: arg

The reference to the load session is not valid.

Program Ref. arg

Recommended actions

Check if the specified reference is the same as in StartLoad

Recovery: arg

40727, Save Error

Description

Task: arg

Missing file source arg.

Program Ref. arg

Recommended actions

Use FilePath argument to specify the file destination.

Recovery: arg

40728, Frame Error

Description

Task: arg

Unable to calculate new frame.

Program Ref. arg

Probable causes

The positions have not the required relations or are not specified with

enough accuracy.

Recommended actions

Check if the positions are too close or not specified with enough

accuracy.

Recovery: arg

40731, Value Error

Description

Task: arg

The value of the argument arg for signal arg is above its maximum

logical value.

Program Ref. arg

Recommended actions

Change the argument or change the maximum logical value parameter

for the signal.

Recovery: arg

40732, Value Error

Description

Task: arg

The value of the argument arg for signal arg is below its minimum

logical value.

Program Ref. arg

Recommended actions

Change the argument or change the min logical value parameter for the

signal.

Recovery: arg

40733, Value Error

Description

Task: arg

The value of the argument arg for signal arg is below the value for

argument arg.

Program Ref. arg

Recommended actions

Change the values of the arguments.

40734, Symbol Definition Error

Description

Task: arg

The string in text table arg at index arg is too long.

Program Ref. arg

Recommended actions

Change the file for the text table and perform a cold start.

40735, Argument Error

Description

The axis is not defined.

Recommended actions

The axis has to be defined, before this instruction is executed.

40736, Mechanical Unit Error

Description

Task: arg

It is not possible to define a payload on the robot with this instruction.

Program Ref. arg

Recommended actions

Use the instruction GripLoad instead of MechUnitLoad.

6 Trouble shooting by Event log

2313HAC020738-001 Revision: K

40737, Symbol Definition Error

Description

Task: arg

The requested text or text package does not exist. Text table arg, Index

arg.

Program Ref. arg

Recommended actions

Check the arguments.

Recovery: arg

40738, I/O Error

Description

Unable to access the I/O signal arg on unit arg .

Impossible to restart.

Probable causes

The connection with the I/O module is broken.

Recommended actions

Re-establish the connection with the I/O unit. To make it possible

to restart the program move PP to a safe restart position.

40739, Parameter Error

Description

Task: arg

None of the option arguments DO1, GO1, GO2, GO3 or GO4 are

specified.

Program Ref. arg

Recommended actions

Specify at least one of the arguments.

40740, Execution Error

Description

The PERS variable specified in the instruction TriggStopProc can not

updated, because it does not exist any more.

Probable causes

The program module with the PERS variable is probably removed

from the

program memory.

Recommended actions

Check if the module with the PERS variable is removed, if so put it

back.

40741, Context Error

Description

Task: arg

Instruction arg may only be used in an event routine.

Program Ref. arg

Recommended actions

Remove the instruction.

40742, Parameter Error

Description

Task: arg

The timing parameter DipLag is larger than the system parameter

Event preset time.

Program Ref. arg

Recommended actions

Increase the system parameter Event preset time or check the

equipment dip lag (delay) compensation.

Recovery: arg

40743, Parameter Error

Description

Task: arg

Not a valid subtype in argument arg.

Program Ref. arg

Recommended actions

Check the argument.

40744, Parameter Error

Description

Task: arg

Invalid value in arg in argument arg.

Program Ref. arg

Recommended actions

Check the argument.

40745, Parameter Error

Description

Task: arg

arg is less than arg in argument arg.

Program Ref. arg

Recommended actions

Check the argument.

40746, Parameter Error

Description

Task: arg

arg TRUE in parameter arg in combination with conveyor

coordination.

6 Trouble shooting by Event log

232 3HAC020738-001 Revision: K

Program Ref. arg

Recommended actions

Cannot use fine points when leaving conveyors after coordinated

stoppoint.

Use a zone instead.

40747, Access Error

Description

Task: arg

Can not read or write to the system parameter arg. The parameter is

internal and protected from reading and writing.

Program Ref. arg

Recommended actions

Recovery: arg

40748, Value Error

Description

Task: arg

The data to write from parameter CfgData to the system parameter, is

outside valid limits.

Program Ref. arg

Recommended actions

Recovery: arg

40749, Execution Error

Description

Task: arg

It is not possible to execute StartMove when the robot is moving.

Program Ref. arg

Recommended actions

Recovery: arg

40752, Argument Error

Description

Task: arg

Some load session with StartLoad - WaitLoad has not been finished.

Program Ref. arg

Recommended actions

Finish the load session with WaitLoad, cancel it with CancelLoad or

set PP to main.

Recovery: arg

40753, Memory Fault

Description

Task: arg

Because of power fail in executed Load or StartLoad ... WaitLoad

instruction, the RAPID program memory is inconsistent.

*** TO REPAIR DO P-START ***

Program Ref. arg

Recommended actions

Important to do P-start, because the RAPID program memory is

destroyed:

- Faulty init value of PERS variables

- Reduction of the available program memory size

40754, Argument Error

Description

Task: arg

There are no arguments given.

Program Ref. arg

Recommended actions

If you want a limitation set the optional argument On with a value,

otherwise set to Off.

40755, Context Error

Description

Task: arg

Instruction arg may only be used in a trap routine.

Program Ref. arg

Recommended actions

Remove the instruction.

40756, Context Error

Description

Task: arg

Instruction arg may only be used in a trap routine ordered through

instruction arg.

Program Ref. arg

Recommended actions

Check that INTNO has the interrupt number used by arg.

40757, Argument Error

Description

Task: arg

The load session you are trying to cancel is not in use.

Program Ref. arg

Recommended actions

Recovery: arg

6 Trouble shooting by Event log

2333HAC020738-001 Revision: K

40758, I/O Error

Description

Unable to access the I/O signal arg unit arg .

Probable causes

The connection with the I/O module is broken.

Recommended actions

Re-establish the connection with the I/O unit.

40759, Parameter Error

Description

Task: arg

The argument Data in arg has improper data type.

Program Ref. arg

Recommended actions

Check the data type.Non-value and semi-value types may not be used.

40761, Parameter Error

Description

Task: arg

The argument arg has a negative value.

Program Ref. arg

Recommended actions

Set the value positive or to zero.

40762, Value Error

Description

Task: arg

The value of argument arg forces the robot out of workspace.

Program Ref. arg

Recommended actions

Decrease the value.

40763, Execution Error

Description

Task: arg

The instruction arg can not be executed while the system is in a stop

state.

Program Ref. arg

40764, Switch Argument Error

Description

Task: arg

The instruction arg must be used with one switch argument.

Program Ref. arg

Recommended actions

Use one of the switch Total or Free.

40765, Argument Error

Description

Task: arg

In the instruction arg the argument arg is not an open directory.

Program Ref. arg

Recommended actions

Open the directory before trying to read it.

Recovery: arg

40766, Parameter Error

Description

Task: arg

In the instruction arg the argument arg can't be used without the

argument arg.

Program Ref. arg

Recommended actions

Check the RAPID program.

40767, Search Error

Description

Task: arg

Object of the type arg could not be searched for.

Program Ref. arg

Recommended actions

Check the RAPID program.

40768, Symbol Access Error

Description

Task: arg

No system symbol arg is accessible in the system.

Program Ref. arg

Recommended actions

Recovery: arg

40769, Symbol Read Access Error

Description

Task: arg

The symbol arg is not a readable object.

Program Ref. arg

Recommended actions

Recovery: arg

6 Trouble shooting by Event log

234 3HAC020738-001 Revision: K

40770, Symbol Type Error

Description

Task: arg

The symbol arg is of type arg and not the expected type arg .

Program Ref. arg

Recommended actions

Check the RAPID program.

40771, Symbol Access Error

Description

Task: arg

The symbol arg is not accessible in this scope.

Program Ref. arg

Recommended actions

Recovery: arg

40772, I\O Error

Description

Task: arg

The arg instruction has lost contact with the conveyor.

Program Ref. arg

40773, Instruction Interrupted

Description

Task: arg

The instruction arg was interrupted, reason unknown.

Program Ref. arg

40774, Object Dropped

Description

Task: arg

The object that the instruction arg was waiting for has been dropped.

Program Ref. arg

Probable causes

Start window passed or Checkpoint not satisfied.

Recommended actions

If Checkpoint not used, Checkpoint Distance and Checkpoint Window

Width must be set to zero.

Rerun the instruction

Recovery: arg

40775, Conveyor Error

Description

Task: arg

Another arg instruction is waiting for a distance to the object.

Program Ref. arg

40776, Conveyor Error

Description

Task: arg

Another arg instruction is waiting for the object.

Program Ref. arg

40777, Conveyor Error

Description

Task: arg

The arg instruction is already connected.

Program Ref. arg

Recommended actions

Recovery: arg

40778, Value Error

Description

Task: arg

Booking of the new error number arg failed. The init value must be -1

or the old number.

Program Ref. arg

Recommended actions

Check the init value of the new errnum variable.

40779, Error Number Local

Description

Task: arg

The RAPID user error number arg must not be declared as local in

routine.

Program Ref. arg

Recommended actions

Check the errnum declaration.

40780, Data Object Error

Description

Task: arg

There is no valid data object for the argument arg of the instruction

arg.

Program Ref. arg

Recommended actions

Check if there is a right data object.

6 Trouble shooting by Event log

2353HAC020738-001 Revision: K

40781, File Error

Description

Task: arg

The parameter arg does not correspond to any loaded text file.

Program Ref. arg

Recommended actions

Check if the text file is (correct) installed.

40782, Mode Error

Description

Task: arg

File or serial channel is not opened for writing.

Program Ref. arg

Recommended actions

Check how the file or serial channel was opened..

40783, Mode Error

Description

Task: arg

File or serial channel is not opened in a character-based mode.

Program Ref. arg

Recommended actions

Check how the file or serial channel was opened.

40784, Mode Error

Description

Task: arg

File or serial channel is not opened in a binary mode.

Program Ref. arg

Recommended actions

Check how the file or serial channel was opened.

40785, Mode Error

Description

Task: arg

File or serial channel is not opened for reading.

Program Ref. arg

Recommended actions

Check how the file or serial channel was opened.

40786, Read Error

Description

Task: arg

One or more bytes is not read properly. The value of the read data

might be

inconsistent.

Program Ref. arg

Consequences

Because the checksum for the received message is not the same as

calculated at sending, the message data can not be used.

Probable causes

The reason can be:

- Communication problem

- Different WriteAnyBin - ReadAnyBin software version between the

sending WriteAnyBin and the receiving ReadAnyBin

Recommended actions

Error Recovery for communication problem: arg

40787, User Frame Error

Description

Task: arg

Not possible to get the coordinated user frame.

Program Ref. arg

40788, Axis Error

Description

Task: arg

The single axis is not init correctly.

Program Ref. arg

40789, Limitation Error

Description

Task: arg

The string length of the argument for the file path is too long.

Program Ref. arg

Probable causes

The maximum allowed string length for the full system file path is arg

characters.

Recommended actions

Shorten the length of the path.

40790, Value Error

Description

Task: arg

The RAPID string is too long.

Program Ref. arg

Probable causes

String value exceeds the maximum allowed length.

6 Trouble shooting by Event log

236 3HAC020738-001 Revision: K

Recommended actions

Rewrite the program to use strings of less length.

Recovery: arg

40791, I/O Error

Description

Task: arg

No space left on device (file name arg).

Program Ref. arg

Recommended actions

Recovery: arg

40792, I/O Error

Description

Task: arg

File open/access error for path arg.

Program Ref. arg

Recommended actions

- Check permission, is the file write protected?

- Check if the file or directory exists.

- Check if there is any space left on device.

Recovery: arg

40793, Error Installing Text Table

Description

Task: arg

No or faulty text resource name or index number in the text file.

Program Ref. arg

Consequences

The contents of some of the text tables may have been destroyed.

Recommended actions

Correct the error, cold start the system and try again.

40794, Error Installing Text Table

Description

Task: arg

The specified index within the text resource already exists in the

system.

Program Ref. arg

Probable causes

- Error in the index numbering.

- The file has been installed twice.

Recommended actions

If error in the index, correct it, cold start the system and try again.

40795, Error Installing Text Table

Description

Task: arg

System memory for text tables is full.

Program Ref. arg

Recommended actions

Reduce the amount of user defined text string installed from RAPID.

Cold start the system and try again.

40796, Overload Error

Description

Task: arg

The system is overloaded so the actual order can not be ready in time.

Program Ref. arg

Recommended actions

Reduce the main computer load, for example by:

- Add WaitTime in RAPID loops

- Increase filter time for I/O signals

- Avoid cyclic interrupts

40797, I/O Error

Description

Unable to access the I/O signal arg on unit arg.

Probable causes

The connection with the I/O module is broken.

Recommended actions

Re-establish the connection with the I/O unit.

40798, System Access Error

Description

arg

40799, Execution Error

Description

Task: arg

TestSignRead is using a channel without a defined signal.

Program Ref. arg

Recommended actions

Use TestSignDefine to define a signal to the channel.

40800, Tool Error

Description

Task: arg

The component robhold in the tool has not got the correct value.

6 Trouble shooting by Event log

2373HAC020738-001 Revision: K

Program Ref. arg

Recommended actions

Change the value of robhold.

If the robot is holding the tool the value should be TRUE. If the robot

is not holding the tool, i.e. a stationary tool, the value should be

FALSE.

40801, Calculation error

Description

Task: arg

Can not calculate the tool frame.

Program Ref. arg

Probable causes

It is not possible to calculate the tool frame with the selected approach

points.

Recommended actions

Select new approach points as accurate as possible.

40802, Execution Error

Description

Task: arg

Not possible to do subscribe.

Program Ref. arg

Probable causes

There is no memory left to make another subscription on this variable.

Recommended actions

To continue, PP must be moved to main!

40803, Error msg too long

Description

The length of the following error message was too long and has been

cut.

This means you will not be able to read the whole message.

40804, Argument Error

Description

Task: arg

The argument "type" in stoppointdata may not be followtime in the

instructions MoveJ, MoveAbsJ and MoveExtJ.

Program Ref. arg

Recommended actions

Change "type" to inpos or stoptime.

40805, Motion Error

Description

Task: arg

Error from MocGenInstr.

Ref to former message for reason.

Program Ref. arg

40806, IOF Error

Description

Task: arg

Error from IofGenInstr.

Ref to former message for reason.

Program Ref. arg

40807, File Error

Description

Task: arg

The file arg already exists.

Program Ref. arg

Recommended actions

To be able to rename or copy:

Change the file name or remove the existing file.

Recovery: arg

40811, No Contact With Unit

Description

Task: arg

There is no contact with unit.

Program Ref: arg

Probable causes

- The unit may have been disabled ( IODisable "UNIT1", 1; )

- No power to the unit.

40812, Execution Error

Description

Task: arg

Not allowed to run this program in non_motion_execution_mode.

Program Ref. arg

Recommended actions

Change mode.

40813, Execution Error

Description

Task: arg

The task is not allowed to execute the instruction arg.

6 Trouble shooting by Event log

238 3HAC020738-001 Revision: K

Program Ref. arg

Probable causes

The task is not configured to control mechanical units.

Recommended actions

Change the configuration or remove the instruction.

40814, Execution Error

Description

Task: arg

StartMove could not get the regain distance.

Program Ref. arg

Probable causes

Application error.

Recommended actions

Please restart the path.

Recovery: arg

40815, Non Existing Axis Number

Description

Task: arg

Unknown axis number for the mechanical unit arg

Program Ref. arg

Recommended actions

Check the value for the argument Axis.

40816, RolGenInstr Error

Description

Task: arg

Error from instruction RolGenInstr.

Ref. to former user or internal error message for reason.

Program Ref. arg

Recovery: arg

41000, Item source exists

Description

Item source arg already exists. Two item sources may not have the

same name.

41001, Not a valid name

Description

Choose arg or arg

41002, Buffer size exceeded

Description

Fatal internal error for item source arg. Try warm start or cold start.

Please report this error.

41003, Item source not defined

Description

The item source object has not been defined.

41004, Itmsrc internal error

Description

Internal error for item source arg.

Error type: arg.

41005, Flush item source first

Description

Item source arg must be flushed before it is used.

41006, Ack item target first

Description

Item target must be acknowledged before executing the GetItmTgt(s)

instruction again.

Error occurred for item source arg.

41007, Item target buffer full

Description

Item target buffer full for item source arg .

41008, Conveyor I/O init error

Description

Error in the initialization of the I/O signal for item source arg, for

conveyor

arg. I/O signal name arg.

41009, Conveyor does not exist

Description

Error for item source arg. The conveyor arg does not exist.

41010, No conveyor name given

Description

Error for item source arg. No conveyor name specified.

6 Trouble shooting by Event log

2393HAC020738-001 Revision: K

41011, Conveyor limits error

Description

Error for item source arg, conveyor arg. The limits are incorrectly

specified.

41012, Conveyor data are defined late

Description

Error for item source arg, conveyor arg. The ItmSrcCnvDat instruction

must be called before the ItmSrcFlush instruction.

41050, Record not activated

Description

Record not ready for activation

Consequences

Record not activated

Probable causes

Try to activate record too early

Recommended actions

Instruction Start Record must be called before activate record

41051, Record not stored

Description

No valid record to store

Consequences

Nothing stored

Probable causes

Try to store a record not existing or not activated .

Recommended actions

Instruction Activate must be called before

Store record

41052, Can't use this record file

Description

File not found or data not valid

Consequences

Record not used

Probable causes

File not found or data not valid .

Recommended actions

Check file directory and name and record data.

41100, Too Many Corrections

Description

Task: arg

Max 5 correction descriptors are allowed to be connected.

Program Ref. arg

Recommended actions

Check number of connected descriptors.

Recovery: arg

41101, Correction Not Connected

Description

Task: arg

Can not write to correction descriptor.

Program Ref. arg

Recommended actions

Check that the current correction descriptor is connected.

Recovery: arg

41102, No Corrections Connected.

Description

Task: arg

Correction unable to be read.

Program Ref. arg

Probable causes

No correction descriptor connected.

Recommended actions

Check if any correction generator is connected.

Recovery: arg

41200, Servo Tool Open Error.

Description

Task: arg

Not possible to open servo gun in motors off state.

Program Ref. arg

Recommended actions

Retry after setting motors on.

Recovery: arg

41201, Servo Tool Close Error.

Description

Task: arg

Not possible to close servo gun in motors off state.

Program Ref. arg

6 Trouble shooting by Event log

240 3HAC020738-001 Revision: K

Recommended actions

Retry after setting motors on.

Recovery: arg

41202, Servo Tool Calibration Error.

Description

Task: arg

Not possible to calibrate servo gun in motors off state.

Program Ref. arg

Recommended actions

Retry after setting motors on.

Recovery: arg

41203, Servo Tool Error.

Description

Task: arg

Servo tool arg does not exist.

Program Ref. arg

Recommended actions

Check mechanical unit name.

Recovery:arg

41204, Servo Tool error.

Description

Task: arg

Emergency stop when executing instruction in background task.

Program Ref. arg

Recommended actions

Retry after emergency stop reset.

Recovery:arg

41205, Servo Tool Error.

Description

Task: arg

Not possible to close servo gun. The gun is not open.

Program Ref. arg

Recommended actions

Retry after opening the gun.

Recovery: arg

41206, Servo Tool Parameter Error.

Description

Task: arg

The parameter PrePos must be a positive value.

Program Ref. arg

Recommended actions

Change the parameter value.

Recovery: arg

41207, Servo Tool Init Error.

Description

Task: arg

The position for servo tool arg is not initialized.

Program Ref. arg

Recommended actions

Change the parameter value or perform a tip change calib.

Recovery: arg

41208, Servo Tool Synchronization Error.

Description

Task: arg

The tips for servo tool arg are not synchronized.

Program Ref. arg

Recommended actions

Synchronize via ManServiceCalib or perform a tool change

calibration.

Recovery: arg

41209, Servo Tool Activation Error.

Description

Task: arg

Servo tool arg is not activated.

Program Ref. arg

Recommended actions

Use ActUnit to activate.

Recovery: arg

41210, Servo Tool Error.

Description

Task: arg

Not possible to execute instruction in motors off state for servo tool

arg.

Program Ref. arg

Recommended actions

Retry after setting motors on.

Recovery: arg

41211, Servo Tool Error.

Description

Task: arg

Not possible to perform a recalibration of the gun arg.

6 Trouble shooting by Event log

2413HAC020738-001 Revision: K

Program Ref. arg

Recommended actions

Retry after checking values.

Recovery: arg

41300, Argument Error

Description

The argument Joint must be between 1 and arg.

Recommended actions

Check and change the value.

41301, Argument Error

Description

The argument Type doesn't correspond to a service value.

41302, Argument Error

Description

The argument Type does not correspond to a service value.

41303, Argument Error

Description

The argument Robot must be between 1 and arg.

Recommended actions

Check and change the value.

41304, Argument Error

Description

The argument Level doesn't correspond to a service level.

41400, Parameter Error

Description

Task: arg

Faulty AxisNo.

Program Ref. arg

Recommended actions

Check and change the value.

Press Start to continue.

41401, I/O Error

Description

Unable to access the I/O signal.

Signal and unit unknown.

Probable causes

The connection with the I/O module is broken.

Recommended actions

Re-establish the connection with the I/O unit.

41402, Value Error

Description

Task: arg

Illegal value of argument for parameter Axis or Strength.

Program Ref. arg

Recommended actions

Check and change the value.

41403, Value Error

Description

Task: arg

Illegal value of argument for parameter Speed Priority Type.

Program Ref. arg

41404, Parameter Error

Description

Task: arg

Argument On or Off missing.

Program Ref. arg

Recommended actions

Check the RAPID program. One of the switch On or Off must be

given.

41405, Parameter Error

Description

Task: arg

Argument TuneValue not allowed together with argument Off.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41406, Parameter Error

Description

Task: arg

This TuneType is only valid for option Advanced Shape Tuning.

Program Ref.arg

Recommended actions

Change TuneType or install option.

6 Trouble shooting by Event log

242 3HAC020738-001 Revision: K

41407, Parameter Error

Description

Task: arg

Symbol arg is read-only.

Program Ref. arg

Recommended actions

Recovery: arg

41408, Parameter Error

Description

Task: arg

The symbol arg was not found.

Program Ref. arg

Recommended actions

Recovery: arg

41409, Parameter Error

Description

Task: arg

Ambiguous symbol arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41410, Parameter Error

Description

Task: arg

Search error for symbol arg.

Program Ref. arg

Recommended actions

Recovery: arg

41411, Parameter Error

Description

Task: arg

Unknown module name arg.

Program Ref. arg

Probable causes

The module does not exist.

Recommended actions

Check and change the RAPID program.

41412, Parameter Error

Description

Task: arg

Ambiguous module arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41413, Parameter Error

Description

Task: arg

Ambiguous routine name arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41414, Parameter Error

Description

Task: arg

Unknown routine name arg.

Program Ref. arg

Probable causes

The routine does not exist.

Recommended actions

Check and change the RAPID program.

41415, Parameter Error

Description

Task: arg

The module name arg does not exist.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41416, Parameter Error

Description

Task: arg

The symbol arg is not a module.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

6 Trouble shooting by Event log

2433HAC020738-001 Revision: K

41417, System Access Error

Description

Task: arg

Can not convert date.

Program Ref. arg

Recommended actions

Warm start and retry.

41419, Parameter Error

Description

Task: arg

arg must be num, bool or string.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41420, Parameter Error

Description

Task: arg

The argument type of arg is not compatible with cfg type. Expected

arg.

Program Ref. arg

Recommended actions

Recovery: arg

41421, Parameter Error

Description

Task: arg

Unknown cfg domain in argument arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41422, Parameter error

Description

Task: arg

Unknown cfg type in argument arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41423, Parameter Error

Description

Task: arg

Unknown cfg instance in argument arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41424, Parameter Error

Description

Task: arg

Unknown cfg attribute in argument arg.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41425, Parameter Error

Description

Task: arg

The path 'arg' in argument arg is incorrect.

Program Ref. arg

Recommended actions

Check and change the path.

Recovery: arg

41426, I/O Error

Description

Unable to access the I/O signal. Signal and unit unknown.

Consequences

Impossible to restart.

Probable causes

The connection with the I/O module is broken.

Recommended actions

Re-establish the connection with the I/O unit. To make it possible to

restart the program move PP to a safe restart position.

41427, Argument Error

Description

Task arg:

The delaytime has to be positive.

Program Ref. arg

6 Trouble shooting by Event log

244 3HAC020738-001 Revision: K

Recommended actions

Change the value of delaytime.

41428, Axis Error

Description

Task: arg

The single axis is not init correctly. The sensor is not activated.

Program Ref. arg

41429, Axis Error

Description

Task: arg

The single axis is not init correctly.

The sensor process is not init correctly.

Program Ref. arg

41430, Argument Error

Description

Task: arg

Orientation definition error in arg .

Program Ref. arg

Recommended actions

Check orientation.

All used orientations must be normalized i.e. the sum of the quaternion

elements squares must equal 1.

41431, System Access Error

Description

Task: arg

Unknown LOGSRV instance.

Program Ref. arg

Recommended actions

Warm start and retry.

41432, System Access Error

Description

Task: arg

Can not set test signals.

Program Ref. arg

Recommended actions

Warm start and retry.

41433, Parameter Error

Description

Task: arg

Unknown mechanical unit.

Program Ref. arg

Recommended actions

Check if the mechanical unit exists in the system.

Recovery: arg

41434, Parameter Error

Description

Task: arg

Argument Axis is out of range.

Program Ref. arg

Recommended actions

Check and change the value of the argument axis.

Recovery: arg

41435, Parameter Error

Description

Task: arg

Argument Channel is out of range.

Program Ref. arg

Recommended actions

Check and change the value of argument Channel.

41437, System Access Error

Description

Task: arg

Can not reset all test signals.

Program Ref. arg

Recommended actions

Warm start and retry.

41438, Undefined Load

Description

Task: arg

WARNING!

Argument arg has undefined load (mass=0).

Program Ref. arg

Consequences

IMPORTANT TO DEFINE CORRECT LOAD to avoid mechanical

damages of the robot.

Recommended actions

Define the actual load for the tool or the grip load before program

movement or jogging. A good motion performance requires a correctly

defined load.

6 Trouble shooting by Event log

2453HAC020738-001 Revision: K

41439, Undefined Load

Description

Task: arg

WARNING!

Argument arg has undefined load center of gravity.

Program Ref. arg

Consequences

IMPORTANT TO DEFINE CORRECT LOAD to avoid mechanical

damage of the robot.

Recommended actions

Define the actual center of gravity for the tool load or the grip load

before program movement or jogging (cog.x, cog.y and cog.z can not

be 0 mm at the same time). Load identification can be done with the

service routine

LoadIdentify.

41440, Argument Is Missing

Description

Task: arg

One of the switch parameter arg or arg has to be defined.

Program Ref. arg

Consequences

The called RAPID routine could not be executed.

Recommended actions

An argument of the data type switch must be specified.

41441, UnLoad Error

Description

Task: arg

Module loaded with path arg is active and therefore can not be erased.

Program Ref. arg

Probable causes

Instruction UnLoad or WaitLoad is executed in the same module as the

module that should be removed.

Instruction UnLoad or WaitLoad is in a trap that is executed earlier

then expected.

If there is a CONNECT to a trap routine in the module, an IDelete on

the trap has to be done before the module can be unloaded.

Recommended actions

Check that the module does not contain routines or data that are still

active, for example CONNECT.

Recovery: arg

41442, Reference Error

Description

Task: arg

The reference in argument arg is not an entire persistent variable.

Program Ref. arg

Recommended actions

It is not possible to use record component or array element in arg. arg .

It is only possible to use entire persistent variables for Tool, WObj or

Load

in any motion instruction.

41443, Argument Error

Description

Task: arg

Argument Tool has negative load of the tool.

Program Ref. arg

Recommended actions

Define the correct load of the tool before use of the tool for jogging or

program movement. Load identification of the tool can be done with

the service

routine LoadIdentify.

41444, Argument Error

Description

Task: arg

Argument Tool has at least one inertia data component with negative

value.

Program Ref. arg

Recommended actions

Define all inertia data components (ix, iy or iz) to actual positive

values.

41445, Argument Error

Description

Task: arg

No \WObj specified for movement with stationary TCP.

Program Ref. arg

Recommended actions

Add argument \WObj for actual work object.

If not movement with stationary TCP, change the component

"robhold" in argument Tool to TRUE (robot holds the tool).

41446, Argument Error

Description

Task: arg

Undefined if robot holds the tool or the work object.

Program Ref. arg

Recommended actions

Check if mismatch between argument Tool and argument \WObj for

data component robhold.

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246 3HAC020738-001 Revision: K

41447, Argument Error

Description

Task: arg

Argument arg has at least one data component with negative value.

Program Ref. arg

Recommended actions

Set all data components in argument arg to positive values.

41448, Argument Error

Description

Task: arg

Argument arg may not have a negative value.

Program Ref. arg

Recommended actions

Set argument arg to a positive value.

41449, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the RAPID program.

41450, Argument Error

Description

Task: arg

Argument \WObj specifies a mechanical unit name, which is not

activated

or is unknown in the system.

Program Ref. arg

Recommended actions

The mechanical unit name defined in \WObj must correspond to the

name earlier defined in the system parameters and must be activated.

41451, Argument Error

Description

Task: arg

Argument arg contains an illegal interrupt number.

Program Ref. arg

Probable causes

Input interrupt number is illegal because it has not been allocated by

the instruction CONNECT.

Recommended actions

Use the instruction CONNECT to allocate and connect an interrupt

number to a trap routine.

41452, Argument Error

Description

Task: arg

Argument arg contains an interrupt number, which is already in use for

other purposes.

Program Ref. arg

Recommended actions

Before reuse of an interrupt variable in the program, it must have been

cancelled with the instruction IDelete.

41453, Type Error

Description

Task: arg

Illegal data type of argument arg.

Program Ref. arg

Recommended actions

Check the RAPID program.

41454, Reference Error

Description

Task: arg

Trigg parameter number arg, reference to undefined trigg data.

Program Ref. arg

Recommended actions

Define trigg data by executing instruction TriggIO, TriggInt,

TriggEquip, TriggSpeed or TriggCheckIO before execution of

instruction TriggL, TriggC, TriggJ, CapL or CapC.

41455, System Access Error

Description

Task: arg

Operative system get time failed.

Program Ref. arg

Recommended actions

Warm start and retry.

41456, Argument Error

Description

Task: arg

Argument arg not within range.

Program Ref. arg

6 Trouble shooting by Event log

2473HAC020738-001 Revision: K

Recommended actions

The argument must be in range arg

41457, Argument Error

Description

Task: arg

Missing optional argument.

Program Ref. arg

Recommended actions

Add one of the optional arguments arg or arg.

41458, Argument Error

Description

Task: arg

Argument arg or arg not within range.

Program Ref. arg

Recommended actions

Check and change the value of the argument.

41459, Argument Error

Description

Task: arg

Argument arg not within range.

Program Ref. arg

Recommended actions

Check and change the value of the argument.

41460, Argument Error

Description

Task: arg

Argument arg or arg or arg not within range.

Program Ref. arg

Recommended actions

Check and change the argument.

41461, Value Error

Description

Task: arg

Illegal value of argument arg.

Program Ref. arg

Recommended actions

The index must be an integer and in range 1 to 1024.

41462, Value Error

Description

Task: arg

Illegal value of argument for parameter arg.

Program Ref. arg

Recommended actions

The value must be an integer and in the correct range.

41463, Argument Switch Is Missing.

Description

Task: arg

There is an argument missing.

Program Ref. arg

Recommended actions

One of the switch parameters \Hex1, \Long4, \Float4 or \ASCII has to

be defined.

41464, Index To High.

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the RAPID program.

41465, The String Is Empty.

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the argument, and use a non-empty string.

41466, The Variables Are Equal.

Description

Task: arg

The argument FromRawData and ToRawData are equal.

Program Ref. arg

Recommended actions

Check and change the RAPID program.

41467, Value Error

Description

Task: arg

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248 3HAC020738-001 Revision: K

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check and change the value. It must be an integer and in range 0 to

255.

41468, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check and change the value. NoOfBytes must be an integer and in

range 1 to 1024, and not higher than RawData length.

41469, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the value. NoOfBytes must not be higher than RawData length.

41470, Argument Error

Description

Task: arg

Argument arg or arg not within range.

Program Ref. arg

Recommended actions

Check and change the value of the argument.

41471, Instruction Error

Description

Task: arg

You are not allowed to disable unit arg.

Program Ref. arg

Recommended actions

Recovery: arg

41472, Instruction Error

Description

Task: arg

There is no client e.g. a teach pendant taking care of instruction.

Program Ref. arg

Recommended actions

Recovery: arg

41473, System Access Error

Description

It was not possible to send data using SCWrite to external computer.

Failed to send variable arg

41474, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the value: arg

arg must be a positive integer.

41475, Wrong size of tasklist

Description

Task: arg

The tasklist has wrong number of elements. It must not have less than

1 or more than arg.

Program Ref. arg

Recommended actions

Check and change the number of arguments in the tasklist.

41476, Non-consistent task list

Description

Task: arg

arg in the tasklist is not one of the tasks that are configured in the

system (max arg tasks can be configured).

Program Ref. arg

Recommended actions

Add the task to the system (in sys.cfg) or remove it from the tasklist.

41477, TimeOut

Description

Task: arg

The time set in argument arg in instruction WaitSyncTask has expired.

Program Ref. arg

Recommended actions

Recovery: arg

6 Trouble shooting by Event log

2493HAC020738-001 Revision: K

41483, Argument Error

Description

Task: arg

The value of the ID is negative or is not an integer.

Program Ref. arg

Recommended actions

Check the value of the optional argument ID. The value must be a

nonnegative integer.

41484, TimeOut

Description

Task: arg

The time set in argument arg in instruction SyncMoveOn has expired.

Program Ref. arg

Recommended actions

Recovery: arg

41486, Instruction Error

Description

Task: arg

The instruction arg is only available if there is a TCP-robot defined in

the program task.

Program Ref. arg

Recommended actions

- Check the configuration.

- The instruction must be removed, if the task is not supposed to have

a TCP-robot.

41487, Instruction Error

Description

Task: arg

The instruction arg only works if the TCP-robot is active.

Program Ref. arg

Recommended actions

Activate the TCP-robot in the task.

41488, Value Error

Description

Task: arg

There is no TCP-robot defined in the program task. One or several

robot axis value input is not equal to 9E9.

Program Ref. arg

Recommended actions

Change the robot axis value to 9E9.

41489, Value error

Description

Task: arg

The robot axis arg is not moveable and therefore must not be

supervised.

Program Ref. arg

Recommended actions

Change the value of axis arg to 9E9.

41490, TimeOut

Description

Task: arg

The time set in argument arg in instruction SyncMoveOff has expired.

Program Ref. arg

Recommended actions

Recovery: arg

41491, Instruction Error

Description

Task: arg

The instruction arg is not available if there is a TCP-robot defined in

the program task.

Program Ref. arg

Recommended actions

- Check the configuration.

- The instruction must be removed, if the task is supposed to have a

TCP-robot.

41492, Instruction Error

Description

Task: arg

The instruction arg only works if the mechanical unit is active.

Program Ref. arg

Recommended actions

Activate the mechanical unit in the task.

41493, Execution Error

Description

Task: arg

There is no TCP-robot available in the task.

Program Ref. arg

Recommended actions

To be able to run the instruction a TCP-robot must be available in the

task.

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250 3HAC020738-001 Revision: K

41494, Instruction error

Description

Task: arg

The task does not control mechanical unit: arg.

Program Ref. arg

Recommended actions

Check the configuration.

41495, Move PP Error

Description

Task: arg

Not ready with the switch from independent to synchronized mode.

Program Ref. arg

Consequences

Restart of current instruction is blocked.

The system can either be in synchronized motion mode or still in

independent motion mode.

Probable causes

Stop of program when having an active instruction. Then a PP

movement within program has been done.

Recommended actions

Move PP to start the program again. PP must be moved in all program

tasks. To have a well defined state of the system you should move PP

to main.

41496, Move PP Error

Description

Task: arg

Not ready with the switch from synchronized to independent mode.

Program Ref. arg

Consequences

Restart of current instruction is blocked.

The system can either be in synchronized motion mode or still in

independent motion mode.

Probable causes

Stop of program when having an active instruction. Then a PP

movement within program has been done.

Recommended actions

Move PP to start the program again. PP must be moved in all program

tasks. To have a well defined state of the system you should move PP

to main.

41497, Move PP Notification

Description

Task: arg

Instruction arg was active in this task. Moving PP within the program

can be dangerous in some cases.

Program Ref. arg

Consequences

Moving PP in the RAPID program can result in unsynchronized

RAPID tasks or/and collision between robots.

Probable causes

PP movement within RAPID program when having active arg

instruction.

Recommended actions

Move PP to suitable position in this program task.

41498, No Defined UserFrame In Mechanical

Unit arg!

Description

The workobject arg contains a coordinated mechanical unit which has

no defined userframe.

Recommended actions

Check the mechanical unit component of the workobject.

41499, Synchronized Mode

Description

Task: arg

System is in synchronized mode. Instruction must have an ID.

Program Ref. arg

Recommended actions

Add switch \ID with an identification number to the instruction.

41500, Independent Mode

Description

Task: arg

System is in independent mode. Instruction must not have an ID.

Program Ref. arg

Recommended actions

Remove switch \ID from the instruction.

41501, Illegal Id

Description

Task: arg

ErrorId has wrong value. It must be an integer in interval arg - arg.

Program Ref. arg

Recommended actions

Change the value.

6 Trouble shooting by Event log

2513HAC020738-001 Revision: K

41502, Illegal Domain

Description

Task: arg

Domain arg can not be used.

Program Ref. arg

Recommended actions

Choose another Elog Domain.

41503, Illegal Error Type

Description

Task: arg

Error type TYPE_ALL can not be used.

Program Ref. arg

Recommended actions

Use another Error Type.

41504, No Mechanical Unit Stated

Description

Task: arg

No TCP in the system and no Mechanical Unit added to the instruction.

Program Ref. arg

Recommended actions

Add a Mechanical Unit, that exists in the task, to the instruction .

41505, Mechanical Unit Not In Task

Description

Task: arg

The Mechanical Unit stated does not exist in the task.

Program Ref. arg

Recommended actions

Add another Mechanical Unit to the instruction.

41506, Task Does Not Read a TCP Robot

Description

Task: arg

The read task does not read a tcp robot.

Program Ref. arg

Recommended actions

Change the configuration or add a Mechanical Unit, that exists in the

task, to the instruction.

41507, Task Reads Other Mechanical Unit

Description

Task: arg

Task reads another Mechanical Unit than the one stated in the

instruction.

Program Ref. arg

Recommended actions

Change Mechanical Unit in the instruction.

41508, LoadId Error

Description

Task: arg

Load Identification is not available for this robot type.

Program Ref. arg

Recommended actions

Check next Event Log message, for the next user action to do.

41509, LoadId Error

Description

Task: arg

Not valid load identification position.

Program Ref. arg

Recommended actions

Change the position for the robot.

Check next Event Log message, for the next user action to do.

41510, LoadId Error

Description

Task: arg

Not allowed to identify (or use) tool0.

Program Ref. arg

Recommended actions

Set the tool that should be identified, active in the jogging window.

Check next Event Log message, for the next user action to do.

41511, LoadId Error

Description

Task: arg

Not allowed to identify load0.

Program Ref. arg

Recommended actions

Use another load for identification.

Check next Event Log message, for the next user action to do.

41512, Internal Error

Description

Task: arg

Measurement axes > 2 at the same time.

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252 3HAC020738-001 Revision: K

Program Ref. arg

Recommended actions

Check next Event Log message, for the next user action to do.

41513, LoadId Error

Description

Task: arg

Selection of PayLoad out of limits.

Program Ref. arg

Recommended actions

Select a PayLoad in the system.

Press Start to continue.

41514, LoadId Error

Description

Task: arg

wobj0 can not be active for roomfix TCP.

Program Ref. arg

Recommended actions

Select another Work Object.

Check next Event Log message, for the next user action to do.

41515, LoadId Error

Description

Task: arg

Selection of method out of limits.

Program Ref. arg

Recommended actions

Select one of the identification methods given.

Press Start to continue.

41516, LoadId Error

Description

Task: arg

The configuration angle is not adequate.

Program Ref. arg

Consequences

It is not possible to run the identification.

Probable causes

The selected value of the configuration angle is less than 30, or has

another value that is not possible to use for identification.

Recommended actions

Select a configuration angle between +/- 30 and +/- 90 degrees.

Press Start to continue.

41517, LoadId Error

Description

Task: arg

PP has been moved to the beginning of the Load Identification routine

and is now ready for a new restart.

Program Ref. arg

Probable causes

Service routine was stopped during measurement, interruped with

cancel by the user or interrupted because some type of other error.

Check former Event Log message for reason.

Recommended actions

1) Start service routine again

2) Use Debug - Cancel Call Routine to quit execution of service

routine.

NOTE: Cancel Call Routine result in loose of Program Pointer.

Use Debug - PP to Main to get a new Program Pointer.

41518, LoadId Error

Description

Task: arg

Selection of MechUnit out of limits.

Program Ref. arg

Recommended actions

Select one of the Mechanical Units displayed.

Press Start to continue.

41519, LoadId Error

Description

Task: arg

Mass must be > 0 kg.

Program Ref. arg

Recommended actions

Specify the mass to something greater than 0.

Press Start to continue.

41520, Error Recovery Constant Not Booked

Description

Task: arg

Error recovery constant arg is not booked.

Program Ref. arg

Recommended actions

Use instruction BookErrNo to book the constant or use an error

recovery constant booked by the system (can not be used with

ErrRaise).

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2533HAC020738-001 Revision: K

41521, Task Status Error

Description

Task: arg

None of the tasks in the tasklist is a NORMAL, activated task.

Program Ref. arg

Recommended actions

Check in the Task Selection Panel that at least one of the tasks in the

tasklist are selected = activated.

Check in the .cfg-file that at least one of the tasks selected is

NORMAL.

41522, Wrong Error Recovery Constant Used

Description

Task: arg

Error recovery constant arg has been booked by the system. The

constant can not be used with instruction ErrRaise.

Program Ref. arg

Recommended actions

Book a new error recovery constant with instruction BookErrNo.

41523, Argument Error

Description

Task: arg

Argument arg is not an integer or is negative.

Program Ref. arg

Recommended actions

Change the value of the argument to a non-negative integer.

41524, Instruction Error

Description

Task: arg

The program is executing in an UNDO handler. It is not allowed to

execute the instruction arg in an UNDO handler.

Program Ref. arg

Recommended actions

Remove the instruction.

41525, Instruction Error

Description

Task: arg

The program is executing in an EVENT routine. It is not allowed to

execute the instruction arg in an EVENT routine.

Program Ref. arg

Recommended actions

Remove the instruction.

41526, Instruction Error

Description

Task: arg

Instruction arg may only be used in an ERROR handler.

Program Ref. arg

Recommended actions

Remove the instruction or move it to an ERROR handler.

41527, Argument Switch Is Missing.

Description

Task: arg

There is an argument missing.

Program Ref. arg

Recommended actions

One of the switch parameters \Continue or \BreakOff in arg has to be

defined.

41528, Instruction Error

Description

Task: arg

Instruction arg may only be used in a no stepin routine.

Recommended actions

Remove the instruction or move it to a no stepin routine.

41529, Instruction Error

Description

Task: arg

The switch \Inpos is only allowed when the task is in control of a

mechanical unit.

Program Ref. arg

Recommended actions

Remove the switch \Inpos from the instruction

41530, Instruction error

Description

Task: arg

It is not possible to execute the instruction arg, while the coordinated

workobject has a reference to the mechanical unit arg, located in

another task.

Program Ref. arg

Recommended actions

Change to a workobject with reference to a mechanical unit located in

the same task as the TCP robot.

Function CalcJointT can be used even when the coordinated

workobject is located in another task if:

- Switch \UseCurWObjPos is used

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254 3HAC020738-001 Revision: K

- The coordinated workobject is standing still

41531, Task Not In TaskList

Description

Task: arg

arg is not one of the tasks in the TaskList, or there is a mismatch

between the tasklists in the different tasks.

Program Ref. arg

Recommended actions

- Add current task to the TaskList.

- Check that the tasklists in the different tasks are similar.

When using PERS variables, it might be necessary to unload the

modules containing the tasklists, and then reload them again.

41532, Mismatch of task list

Description

Task: arg

Failed to synchronize because of:

1) The task list, arg, does not match with the task lists with the same

SyncID in the other tasks, or a task name is used multiple times in the

task list.

2) Not the same active tasks in task selection panel in the first executed

instruction as in the following instructions.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

The reason for this error is one of the following:

1) Tasklists do not have the same content for the same SyncID

or a taskname is used multiple times.

2) One or several tasks has been enabled/disabled in the task selection

panel after first instruction was executed.

Recommended actions

1) Check and modify tasklists and SyncIDs, or the same error will

occur again.

2) Start again. The instructions will be executed with the current status

of the task selection panel.

41533, Mismatch Of SyncID

Description

Task: arg

SyncID arg does not match with SyncID in the other task/tasks.

Program Ref. arg

Probable causes

Use of tasklists that are non global can cause this error.

Recommended actions

Change SyncID and check the tasklists.

PP must be moved to main in all tasks before you can continue.

41534, Inconsistent Synch Data

Description

Task: arg

Inconsistent synchdata in TaskList arg.

Program Ref. arg

Recommended actions

Change content of the TaskList.

PP must be moved to main in all tasks before you can continue.

41535, Unexpected SyncMoveOn

Description

Task: arg

Unexpected SyncMoveOn (SyncID arg). The system is already in

synchronized mode.

Program Ref. arg

Probable causes

The program task is already in synchronized mode becuase

SyncMoveOn has already been executed.

Use of tasklists that are non global can cause this error.

Recommended actions

PP must be moved to main in all task before you can continue the

program execution.

Remove the SyncMoveOn instruction. Every SyncMoveOn must be

followed by a SyncMoveOff instruction.

Check your tasklists.

41536, Unexpected SyncMoveOn

Description

Task: arg

Unexpected SyncMoveOn (SyncID arg). The system is waiting for a

SyncMoveOff.

Program Ref. arg

Recommended actions

Remove the SyncMoveOn instruction. Every SyncMoveOn must be

followed by a SyncMoveOff instruction.

41537, Unexpected SyncMoveOff

Description

Task: arg

Unexpected SyncMoveOff (SyncID arg). The system is waiting for a

SyncMoveOn.

Program Ref. arg

Recommended actions

Remove the SyncMoveOff instruction. Every SyncMoveOn must be

followed by a SyncMoveOff instruction.

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2553HAC020738-001 Revision: K

41538, Wrong TaskList

Description

Task: arg

The task, arg, in the TaskList is a read task and can not be

synchronized.

Program Ref. arg

Recommended actions

Change the TaskList or the configuration.

41539, Speed Too High

Description

Task: arg

Speed is over 100 mm/s. This is too fast when Stiff Stop (switch \Stop)

is used.

Program Ref. arg

Recommended actions

Change the speed.

41540, Wrong Mechanical Unit

Description

Task: arg

The task reads the control task, arg, which does not control the

mechanical unit arg.

Program Ref. arg

Recommended actions

Change \MechUnit or the configuration.

41541, Not Allowed From a Read Task

Description

Task: arg

The instruction is not allowed to execute in a read task.

Program Ref. arg

Recommended actions

Remove the instruction.

41542, Program Stop

Description

Task: arg

Not possible to regain to path because of program stop in the system.

Program Ref. arg

Recommended actions

Recovery: arg

41543, Argument Error

Description

Task: arg

A loaddata has been defined, but is no longer available in the system.

Program Ref. arg

Probable causes

The instruction GripLoad might have been run in a module that is no

longer available in the system.

Recommended actions

Be sure to run GripLoad Load0, to reset loaddata.

41544, Obsolete Instruction

Description

Task: arg

The procedure arg is obsolete and will not have the expected behavior.

PFIOResto will do nothing at all.

PFDOVal and PFGOVal will act as the functions DOutput and

GOutput respectively.

Program Ref. arg

41545, Argument Error

Description

Task: arg

The argument arg may not be of type LOCAL PERS.

Program Ref. arg

Recommended actions

Remove the directive LOCAL from the data declaration.

41546, Argument Error

Description

Task: arg

The object arg does not exist in the system or is of type LOCAL PERS.

Program Ref. arg

Recommended actions

- Declare the object

- Remove the directive LOCAL from the data declaration

41547, Argument Error

Description

Task:arg

The \Corr switch can not be used without the option Path Offset.

Program Ref. arg

Recommended actions

Remove the argument or install the option.

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41548, Module Error

Description

Task: arg

The module you are trying to erase, arg, is active and thus can not be

removed.

Program Ref. arg

Recommended actions

Check that the module you want to erase is not active.

41549, Unexpected SyncMoveOn or

SyncMoveOff

Description

Task: arg

Wrong path level. It is not possible to use SyncMoveOn or

SyncMoveOff on StorePath level.

Used arg: arg

Program Ref. arg

Recommended actions

Check the RAPID program.

41550, PathRecorder Start/Stop Error

Description

Task: arg

Unable to execute arg

Program Ref. arg

Recommended actions

Ensure that a backward motion has not been initiated with

PathRecMoveBwd

without being terminated with PathRecMoveFwd.

41551, PathRecorder Move Error

Description

Task: arg

Unable to execute arg. The given identifier can not be reached.

Program Ref. arg

Recommended actions

Ensure that the PathRecorder has been started.

Ensure that the program pointer not is being moved manually.

Ensure that the limit of arg recorded move instructions is not exceeded.

41552, PathRecorder Path Level Error

Description

Task: arg

Can not execute arg on current path level.

Program Ref. arg

Recommended actions

- Switch to trap-level.

- Execute StorePath to switch path level.

41553, Destroyed Data

Description

System data arg in one of the tasks has been changed. It is NOT

allowed to change this data.

Recommended actions

The system has restored the data when it was started, but the program

has to be checked. Remove where arg has been assigned a value.

41554, Synchronized Mode

Description

Task: arg

It is not possible to use the optional parameter \Conc when the system

is in synchronized mode.

Program Ref. arg

Recommended actions

Remove the optional parameter \Conc from any move instruction used

in synchronized mode.

41555, No Contact With Unit

Description

Task: arg

There is no contact with the unit arg.

Program Ref. arg

Probable causes

The unit may have been disabled (IODisable "UNIT1", 1;)

No power to the unit.

Recommended actions

Recovery: arg

41556, No Contact With Unit

Description

Task: arg

There is no contact with unit.

Program Ref. arg

Probable causes

The unit may have been disabled (IODisable "UNIT1", 1;)

No power to the unit.

Recommended actions

Recovery: arg

6 Trouble shooting by Event log

2573HAC020738-001 Revision: K

41557, Mec. Unit not stopped

Description

Task: arg

Not allowed to change run mode, if not all motion program tasks are

stopped.

Program Ref. arg

Recommended actions

Do program stop and try again.

41558, Argument Switch Missing

Description

Task: arg

An argument is missing to instruction arg.

Program Ref. arg

Recommended actions

Add switch SyncOrgMoveInst or SyncLastMoveInst to the instruction.

41559, Not PERS variable

Description

Task: arg

The task list, arg, is either LOCAL or TASK persistent. It is not

allowed. It has to be global.

Program ref. arg

Recommended actions

Change the task list to PERS.

41560, No Start of Movement

Description

Task: arg

It was not possible to start the movement.

Program Ref. arg

Probable causes

1. There has been an emergency stop.

2. There was another error in the system.

Recommended actions

1. Reset the emergency stop, if there has been one.

2. Check former error messages for reason.

Recovery: arg

41561, No Text in Function Key

Description

Task: arg

The instruction TPReadFK has no text in either of the function keys.

Program Ref. arg

Consequences

When the instruction is executing there will be no button available to

press.

Recommended actions

Put a text in at least one of the function keys TPFK1 .. TPFK5

41562, Risk for faulty circular movement

Description

Task: arg

Risk for faulty circular movement because of:

1) An asynchronous process error has occurred and was not handled in

any error handler

2) Program Pointer at circular instruction in combination with done

MODPOS of any previous move instruction

Program Ref. arg

Consequences

The Program may not be started from the current position, because

there is a risk that the robot might perform an unexpected movement.

Probable causes

One of following:

1) The RAPID program is missing an error handler or the error handler

does not handle this specific error

2) MODPOS operation done when not running in step or move step

mode

Recommended actions

One of following:

1) Edit the program

2) Move the program pointer to be able to start the program.

41563, Argument Error

Description

Task: arg

The Mechanical Unit arg specified in the WObj for this MOVE

instruction is the same Mechanical Unit arg as the robot

for this program task.

Program Ref. arg

Consequences

It is not possible that the robot moves the work object itself.

Recommended actions

Edit the used wobjdata.

41564, Not allowed to run from a Motion Task

Description

Task: arg

The instructions StopMove, StartMove and StopMoveReset with the

option parameter \AllMotionTasks are not allowed to run from a

motion program task.

6 Trouble shooting by Event log

258 3HAC020738-001 Revision: K

Program Ref. : arg

Probable causes

It is only allowed to do stop and restart of all movements in the system

from

a supervision program task running as a read (or background) program

task.

Recommended actions

Remove the instruction.

41565, Not allowed value

Description

Task: arg

Illegal value in argument arg.

Program ref. arg

Recommended actions

Check and change the value. It must be an integer between arg and arg.

41566, Signal exceeds max number of allowed

bits

Description

Task: arg

The signal arg is too big.

Program ref. arg

Recommended actions

Group signals consisting of 23 bits or less can be represented by the

num datatype, and group signals of 32 bits or less can be represented

by the dnum datatype, if they are used in a RAPID program

41567, Digital Output Break

Description

Task: arg

A digital output interrupted the execution.

Program Ref. arg

Recommended actions

Recovery: arg

41568, Specified name is not a bus

Description

Task: arg

The bus name arg doesn't exist.

Program Ref.arg

Probable causes

The unit name is misspelled or not defined.

Recommended actions

Recovery: arg

41569, Socket error

Description

Task: arg

The socket is already connected and can not be used to listen for

incoming connections.

Program Ref. arg

Recommended actions

Use another socket to listen for incoming connections.

41570, Socket error

Description

Task: arg

The socket can not accept incoming connection requests since it is not

set to listen state.

Program Ref. arg

Probable causes

SocketAccept is used before SocketListen.

Recommended actions

Set socket to listen for incoming connections before trying to accept.

41571, Socket error

Description

Task: arg

The address and port is already in use and can not be used by this

socket.

Program Ref. arg

Recommended actions

Recovery: arg

41572, Socket error

Description

Task: arg

Unexpected error creating socket.

Check log for further messages of possible cause.

Program Ref. arg

Recommended actions

Move program pointer to main and restart program.

41573, Socket error

Description

Task: arg

No more sockets can be created. The maximum number of concurrent

sockets is eight.

Program Ref. arg

6 Trouble shooting by Event log

2593HAC020738-001 Revision: K

Recommended actions

Close one or more sockets, to allow a new socket to be created.

41574, Socket error

Description

Task: arg

The socket must be created before it can be used in any socket

instruction.

Program Ref. arg

Probable causes

The reason for this error is one of the following:

1) Socket not created at all.

2) PP movements has been done.

3) Start of program after power fail.

4) The socket has been closed after SocketCreate.

Recommended actions

Insert an SocketCreate instruction at a suitable place in the program

before the socket is used.

Recovery: arg

41575, Socket error

Description

Task: arg

The specified address is invalid. The only valid addresses are the LAN

address of the controller or the service port address, 192.168.125.1.

Program Ref. arg

Recommended actions

Specify the LAN address or the service port address.

41576, Socket error

Description

Task: arg

The specified port is invalid.

Program Ref. arg

Recommended actions

It is recommended that a port number in the range 1025-4999 is used.

41577, Socket error

Description

Task: arg

The timeout specified in the instruction is too low. The timeout is

specified in seconds and must not be zero.

Program Ref. arg

Recommended actions

Use a timeout value greater than zero.

41578, Socket error

Description

Task: arg

Unexpected error when connecting socket.

Check event log for other messages for possible cause.

Program Ref. arg

Recommended actions

Move program pointer to Main and restart program.

41579, Socket error

Description

Task: arg

The connection was refused by the remote host.

Program Ref. arg

41580, Socket error

Description

Task: arg

The socket is already connected and can not be connected again.

Program Ref. arg

Probable causes

SocketConnect has already been executed for the specified socket.

Recommended actions

Close the socket and recreate before connecting.

41581, Socket error

Description

Task: arg

The instruction was not finished within the timeout period.

Program Ref. arg

Recommended actions

Use a higher timeout value or use an error handler to retry the

instruction.

Recovery: arg

41582, Socket error

Description

Task: arg

Empty data was specified to be sent or as storage in receive.

Program Ref. arg

Recommended actions

Use a string, rawbyte or byte array with size greater than zero.

6 Trouble shooting by Event log

260 3HAC020738-001 Revision: K

41583, Socket error

Description

Task: arg

The specified data is too big.

Program Ref. arg

Recommended actions

A socket can handle at most 1024 bytes in one instruction.

41584, Socket error

Description

Task: arg

The specified string or data to be sent is empty.

Program Ref. arg

Recommended actions

Check that the data is correct.

41585, Socket error

Description

Task: arg

The number of bytes to send has to be a value bigger than zero.

Program Ref. arg

Recommended actions

Change the value for the optional parameter NoOfBytes to a value

bigger than zero.

41586, Socket error

Description

Task: arg

The specified number of bytes to be sent is longer than the length of

the actual data.

Program Ref. arg

Recommended actions

Change the value for the optional parameter NoOfBytes to be less than

or equal to the actual data.

If all data should be sent remove the optional parameter.

41587, Socket error

Description

Task: arg

An unexpected error occurred when sending data.

Check the event log for other messages for the possible cause.

Program Ref. arg

Recommended actions

Move the programpointer to Main and restart the program.

41590, Socket error

Description

Task: arg

The byte array is invalid. A byte array can only contain integers

between 0 and 255.

Program Ref. arg

Recommended actions

Change the byte array to contain valid data or use rawbytes to send

complex data.

41591, Socket error

Description

Task: arg

Unexpected error when trying to get socket state.

Program Ref. arg

Recommended actions

Move programpointer to Main and restart program.

41592, Socket error

Description

Task: arg

No data was received.

Program Ref. arg

Probable causes

The connection may have been closed by the remote host.

Recommended actions

Move programpointer to Main and restart program.

41593, Socket error

Description

Task: arg

The data received is too long to be stored in a string. The maximum

length of data that can be stored in a string is 80 characters.

Program Ref. arg

Recommended actions

Use an byte array or rawbytes to receive data longer than 80 bytes.

41594, Socket error

Description

Task: arg

The socket is not connected.

Program Ref. arg

Probable causes

For client, use SocketConnect before receiving/sending data.

For server, use SocketAccept before receiving/sending data.

6 Trouble shooting by Event log

2613HAC020738-001 Revision: K

Recommended actions

Use SocketConnect or SocketAccept to connect socket before trying to

receive/send.

41595, Socket error

Description

Task: arg

The connection has been closed by the remote host.

Program Ref. arg

Recommended actions

Use error handler to re-establish connection before retrying to send/

receive.

Recovery: arg

41596, Socket error

Description

Task: arg

Unexpected error binding socket.

Program Ref. arg

Recommended actions

Move programpointer to Main and restart program.

41597, Socket error

Description

Task: arg

The socket has already been bound to an address and can not be bound

again.

Program Ref. arg

Recommended actions

Close socket and recreate before trying to bind socket to a new address.

41598, Socket error

Description

Task: arg

Unexpected error trying to listen for connections.

Program Ref. arg

Recommended actions

Move programpointer to Main and restart program.

41599, Socket error

Description

Task: arg

The socket has not been bound to an address.

Program Ref. arg

Recommended actions

Use SocketBind to specify which address to listen for incoming

connections.

41600, Socket error

Description

Task: arg

The specified client socket is already in use. The client socket must not

be created before calling SocketAccept.

Program Ref. arg

Probable causes

SocketAccept has already been executed for the specified socket.

Recommended actions

Close the client socket before using it in the call to SocketAccept, or

remove multiple SocketAccept with same client socket.

41601, Socket error

Description

Task: arg

Unexpected error accepting connection.

Program Ref. arg

Recommended actions

Move programpointer to Main and restart program.

41602, Socket error

Description

Task: arg

Unexpected error receiving data.

Program Ref. arg

Recommended actions

Move programpointer to Main and restart program.

41603, Socket error

Description

Task: arg

The socket has already been created.

A socket can only be created once and must be closed before it can be

created again.

Program Ref. arg

Recommended actions

Use another socket or close socket before creating.

41604, Socket error

Description

Task: arg

6 Trouble shooting by Event log

262 3HAC020738-001 Revision: K

The socket is already listening for incoming connections.

A socket can only be used once to listen for incoming connections.

Program Ref. arg

Probable causes

Multiple use of SocketListen with same socket.

Recommended actions

Use another socket or close socket before using it again.

41611, UIMsgBox - No user or program action

defined

Description

Task: arg

The instruction UIMsgBox or function UIMessageBox has no user or

program action defined.

None of the option arguments \Buttons, \BtnArray,\MaxTime,

\DIBreak or

\DOBreak are used.

Program Ref. arg

Consequences

The RAPID program will be executed for ever.

Recommended actions

Use one or several of the arguments \Buttons, \BtnArray, \MaxTime,

\DIBreak or \DObreak.

Recovery: arg

41612, MinValue greater than MaxValue

Description

Task: arg

In function arg, the argument \MinValue is greater

than \MaxValue.

Program Ref. arg

Consequences

Not possible to continue the program execution.

Recommended actions

Change the RAPID program so argument \MaxValue is greater than

\MinValue.

Recovery: arg

41613, InitValue not within specified value

range

Description

Task: arg

In function arg, the argument \InitValue is not

specified within the range \MaxValue ... \MinValue.

Program Ref. arg

Consequences

Not possible to continue the program execution.

Recommended actions

Change the argument \InitValue so it's inside the value range.

Recovery: arg

41614, InitValue is not an integer

Description

Task: arg

In function arg, the argument \InitValue is not an integer value as

specified in argument \AsInteger.

Program Ref. arg

Consequences

The program execution can not continue.

Recommended actions

Change the argument \InitValue to an integer.

Recovery: arg

41615, Reference Error

Description

Task: arg

The datapos arg is undefined.

Program Ref. arg

Recommended actions

All datapos is retrieved with the function GetNextSym.

41616, Reference Error

Description

Task: arg

The taskid arg is unknown in the system.

Program Ref. arg

Recommended actions

Program tasks must be defined in the system parameter and not in the

RAPID program. (Taskid can be used as a parameter when declaring a

routine).

41617, Too intense frequency of Write

Instructions

Description

A high usage frequency of user interface write instructions, such as

TPWrite, has forced the program execution to slow down.

Recommended actions

Decrease the usage frequency of user interface write instructions. Add

wait instructions, such as WaitTime, when many write instructions are

used in conjunction.

6 Trouble shooting by Event log

2633HAC020738-001 Revision: K

41618, Argument error buttondata

Description

Task: arg

The argument Buttons of type buttondata has not allowed value.

Only allowed to use the predefined data of type buttondata.

Program Ref. arg

Probable causes

Buttondata must be:

- an integer

- have a value within the predefined range

Recommended actions

Edit the program.

41619, Argument error icondata

Description

Task: arg

The argument Icon of type icondata has not allowed value.

Only allowed to use the predefined data of type icondata.

Program Ref. arg

Probable causes

Icondata must be:

- an integer

- have a value within the predefined range.

Recommended actions

Edit the program.

41620, Socket Error

Description

Task: arg

The Socket Messaging subsystem is overloaded.

Program Ref. arg

Probable causes

This can happen if sockets are created and closed frequently and very

rapidly.

Recommended actions

Try to rewrite the program in such a way that sockets are reused instead

of closed and then recreated.

41621, StorePath Error

Description

Task: arg

Instruction arg is used with arg switch in one or several tasks together

with arg without arg switch.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID programs.

Recommended actions

Check that no mix of StorePath and StorePath \KeepSync is used.

Change the program.

PP must be moved in all tasks before you can continue.

41622, Unexpected instruction

Description

Task: arg

The instruction arg can only be used in between instruction

arg and instruction arg (on store path level).

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check and change the RAPID program.

PP must be moved in all tasks before you can continue.

41623, Faulty use of arg

Description

Task: arg

Instruction arg is used multiple times, or the instruction is used when

already in synchronized motion mode.

arg suspends synchronized coordinated movements.

arg resumes synchronized coordinated movements.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check and change the RAPID program.

PP must be moved in all tasks before you can continue.

41625, Unexpected arg

Description

Task: arg

Instruction arg is used directly after instruction arg, or the system is

not in synchronized motion mode.

A change to independent motion mode can not be done.

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264 3HAC020738-001 Revision: K

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check and change the RAPID program.

PP must be moved in all tasks before you can continue.

41626, Unexpected arg \arg

Description

Task: arg

Instruction arg \arg is used in independent motion mode.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check and change the RAPID program.

PP must be moved in all tasks before you can continue.

41627, Faulty use of arg

Description

Task: arg

arg is used on store path level and system was not in synchronized

motion mode before arg.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check and change the RAPID program.

PP must be moved in all tasks before you can continue.

41630, Unsafe Synchronization

Description

Task: arg

To reach safe synchronization functionality, variable arg should be

used only one time, not in several arg or arg instructions.

Program Ref. arg

Consequences

Program tasks/movements may not always be synchronized.

Probable causes

Use of arg several times in the same program.

Recommended actions

Check and change the RAPID program.

41631, Instruction Error

Description

Task: arg

The program is executing in an EVENT routine. It is not allowed to

execute the instruction arg in an EVENT routine with shelf arg.

Program Ref. arg

Recommended actions

Remove the instruction

41632, Argument does not exist

Description

Task: arg

The functionality when using arguments TP_SCREENVIEWER and

TP_PROGRAM in instruction TPShow has been removed.

Program Ref. arg

Consequences

When the instruction with these arguments is executing nothing will

happen.

Recommended actions

Remove the instruction.

41633, Can only be used in an UNDO handler

Description

Task: arg

The instruction arg can only be used in an UNDO handler.

Program Ref. arg

Consequences

Program execution will be stopped.

Recommended actions

Use another instruction and/or move this instruction to the UNDO

handler.

41634, Unknown Task Name

Description

Task: arg

The task name arg is unknown in the system.

Program Ref. arg

Consequences

It is not possible to execute this instruction with a task name that is not

found in the system.

6 Trouble shooting by Event log

2653HAC020738-001 Revision: K

Probable causes

1. The program task is not defined in the system parameters.

2. The task name is wrong spelled.

Recommended actions

Recovery: arg

41635, Unexpected SyncMoveOff

Description

Task: arg

Unexpected SyncMoveOff (SyncID arg). The system is already in

unsynchronized mode.

Program Ref. arg

Probable causes

Use of tasklists that are non global can cause this error.

Recommended actions

Remove the SyncMoveOff instruction. Every SyncMoveOn must be

followed by one SyncMoveOff instruction.

Check your tasklists.

41636, Unexpected SyncMoveOff

Description

Task: arg

Unexpected SyncMoveOff (SyncId arg) from Task not included in

synchronized group.

Program Ref.arg

Probable causes

Use of tasklists that are non global can cause this error.

Recommended actions

Remove the SyncMoveOff instruction. Every SyncMoveOn must be

followed by one SyncMoveOff instruction.

Check your tasklists.

41637, Task not active in task selection panel

anymore

Description

Task: arg

The task arg is not active in the task selection panel anymore.

The task arg was active in task selection panel at start from main.

Because of that not possible to pass this arg instruction.

Program Ref. arg

Consequences

The program execution is immediately stopped..

Probable causes

The task arg has been deactivated in the task selection panel.

Recommended actions

1) Activate task arg in the task selection panel.

2) To permanent skip task arg for the rest of this cycle run the service

routine SkipTaskExec.

After that restart the instruction arg.

41638, Not allowed task activation

Description

Task: arg

The task arg is active in the task selection panel. This task was not

active in the task selection panel when start from main was done. It is

not allowed to add tasks in the task selection panel after start from

main.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

1) The task arg was not active when start from main was done.

2) Deactivation of task arg with service routine arg, but not

deactivating the task in the task selection panel.

3) Activation of task arg that earlier was deactivated in task selection

panel and deactivated with service routine arg.

Recommended actions

Move PP to main to reset tasks used at start from main. Then use the

task selection panel to select which tasks that you want to execute.

41640, Move PP Warning

Description

Task: arg

Move of program pointer when path is stored may cause problems if

moved to a place after the path restore.

Consequences

Path may unintentionally stay in a stored state.

Probable causes

Stop of program when having a stored path. Then a PP movement

within the program has been done.

Recommended actions

Ensure that restore of path is not skipped by moving PP to a RestoPath

instruction if necessary.

41641, Move PP Warning

Description

Task: arg

Move of program pointer when stop motion is active may cause

problems if moved to a place after stop motion deactivation.

Consequences

Restart of motion may be blocked.

Program execution may be waiting at motion instructions.

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266 3HAC020738-001 Revision: K

Probable causes

Stop of program when stop motion is active. Then a PP movement

within the program has been done.

Recommended actions

Ensure that stop motion deactivation is not skipped.

41642, Argument Error

Description

Task: arg

Argument arg not within range.

Program Ref. arg

Recommended actions

arg must be > 0 when arg = 0.

41643, Argument Error

Description

Task: arg

Argument arg not within range.

Program Ref. arg

Recommended actions

arg must be an integer when arg < 0

41644, Argument Error

Description

Task: arg

Argument arg not within range.

Program Ref. arg

Recommended actions

arg must greater or equal to 0.

41645, Program Stopped from RAPID

Description

Task: arg

Program and movement are stopped with System Stop from RAPID.

Program Ref. arg

Consequences

Due to a programmed System Stop in RAPID both program execution

and movements are stopped. The problem causing the stop has

preferable been presented in another log.

Recommended actions

Find out why the program has been stopped (maybe in other logs),

correct the problem and restart the program.

41646, Program Blocked from RAPID

Description

Task: arg

Program and movement are stopped and blocked with System Stop

RAPID Block from RAPID.

Program Ref. arg

Consequences

Due to a programmed System Stop RAPID Block in RAPID both

program execution and movements are stopped. The problem causing

the stop has preferable been presented in another log.

If the robot is performing a circular movement, the robot has to be

moved to the beginning of the circular movement before restarting the

program.

Recommended actions

Find out why the program has been blocked (maybe in other logs),

correct the problem and move program pointer in all motion tasks

before restarting the program.

41647, Program Halted from RAPID

Description

Task: arg

Program and movement are halted with System Halt from RAPID.

Program Ref. arg

Consequences

Due to a programmed System Halt in RAPID both program execution

and movements are stopped. The problem causing the stop has

preferable been presented in another log.

Recommended actions

Find out why the program has been halted (maybe in other logs),

correct the problem and turn motors on before restarting the program.

41648, Execution Error

Description

Task: arg

Not allowed to change run mode from forward to backward, from

continues to stepwise or vice versa.

Program Ref. arg

Recommended actions

Select the original run mode and continue program execution.

41649, Incorrect Error Message

Description

Task: arg

At least one of the arguments in the instruction arg exceeds the

limitations described in the manual.

Program Ref. arg

6 Trouble shooting by Event log

2673HAC020738-001 Revision: K

Probable causes

The arguments to instruction arg contain limitations both on each

string and the total amount of characters used in the instruction. This

is described in the manual.

Recommended actions

Consult the manual and correct the arguments.

41650, Task already stopped by another task

Description

The non motion task arg has executed a StopMove instruction. No stop

action has, however, been taken because the motion task arg was

already stopped by task arg.

Program Ref. arg

Consequences

The motion task must be started, with the instruction StartMove, from

the task that stopped it or the switch \AllMotionTasks has to be used in

StartMove from this task.

41651, Ignored StartMove actions for task

Description

The non motion task arg has executed a StartMove instruction. The

motion task arg has, however, not been started.

Program Ref. arg

Consequences

No movements can be performed if the motion task has been stopped

by another non motion task.

Probable causes

1. The motion task has not been stopped.

2. The motion task was stopped by another non motion task arg.

This time the cause was arg.

Recommended actions

Use the switch \AllMotionTasks in StartMove if this instruction should

start a movement that is stopped by another non motion task.

41652, Forced StartMove action

Description

The non motion task arg has executed a StartMove instruction. The

instruction discovered that the motion task arg has been stopped by

this task. That motion task will be started to prevent inexplicable

stopped movements.

Program Ref.arg

Probable causes

1. The motion task has been stopped with the switch \AllMotionTasks

active in the StopMove instruction but not in the StartMove

instruction.

2. The StopMove instruction has been executed in synchronized mode

and the StartMove in independent mode.

41653, Argument error CalcJointT

Description

Task: arg

It is not possible to execute the function CalcJointT with argument

\UseCurWObjPos, if the coordinated workobject moved by some

mechanical unit is located in the same task as the TCP robot or if the

workobject is not moved by any mechanical unit at all.

Program Ref. arg

Recommended actions

Remove the argument \UseCurWObjPos, so can the function

CalcJointT be executed and the calculation can be done with data

solely from the RAPID program.

41654, Execution error CalcJointT

Description

Task: arg

It was not possible to execute the function CalcJointT with argument

\UseCurWObjPos, because the mechanical unit arg was moving at the

time of execution of CalcJointT.

Program Ref. arg

Recommended actions

Function CalcJointT with argument \UseCurWObjPos can only be

exected without error, if the coordinated workobject moved by another

task is standing still.

Recovery: arg

41655, Argument not a motion task

Description

Task: arg

The function CRobT or CJointT has been used with an argument that

refer to an other task, arg. That task is not a motion task (controlling

mechanical units) and can therefore not be used.

Program Ref. arg

Probable causes

CRobT or CJoinT with argument \TaskRef or \TaskName can only be

used without errors if the task that the arguments refer to is a motion

task.

Recommended actions

Change the argument \TaskRef or \TaskName or remove it and restart

the program execution.

Recovery: arg

41656, Not allowed value

Description

Task: arg

Illegal value in argument arg.

Program ref. arg

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268 3HAC020738-001 Revision: K

Recommended actions

Check and change the value. It must be between arg and arg.

41657, File Access Error

Description

Task: arg

Could not access the file/device arg.

Program Ref. arg

Probable causes

- The path or filename is wrong.

- The maximum number of simultaneously opened files is exceeded.

- The disk is full.

- Function does not support check of selected device.

Recommended actions

- Check the path or filename.

- Check the disk space.

Recovery: arg

41658, Program task is in StopMove state

Description

Task: arg

No movement will be performed in this motion task, because the task

is currently set in StopMove state ordered by some non-motion task.

Consequences

Not possible to start any movements.

Probable causes

Some non-motion task connected to this motion task has set the task in

StopMove state.

Recommended actions

To perform movements in this motion task, the StopMove state must

be reset by the responsible non-motion task with one of the following

actions:

1) Execute StartMove

2) Start the non-motion task from main

a) Do power off-on if semi static non-motion task

b) Do installation start if static non-motion task

c) Set PP to main if normal non-motion task

41660, No space left for the new view

Description

Task: arg

Maximum number of views has been exceeded.

There is no space left on the FlexPendant for the new view.

Program Ref. arg

Consequences

The view will not be launched.

Probable causes

Too many open views.

Recommended actions

Close one view and try again.

Recovery: arg

41661, Assembly could not be found

Description

Task: arg

1) The assembly could not be found, or does not exist.

2) The FlexPendant Interface option is missing.

Status arg.

Program Ref.arg

Consequences

The view will not be launched.

Probable causes

1) The assembly arg could not be found.

2) The system image does not include the required option FlexPendant

Interface.

Recommended actions

1) Check inparameters. Make sure that the modules been loaded

correctly

to the robot controller.

2) Check that FlexPendant Interface option is used.

Recovery: arg

41662, Assembly could not be loaded

Description

Task: arg

The assembly was found but could not be loaded.

Status arg.

Program Ref.arg

Consequences

The view will not be launched.

Recommended actions

Make sure that the loaded modules are executable files for the

FlexPendant.

Recovery: arg

41663, Instance could not be created

Description

Task: arg

The assembly exist but no new instance could be created.

Status arg.

Program Ref.arg

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2693HAC020738-001 Revision: K

Consequences

The view will not be launched.

Recommended actions

Make sure that the loaded modules are executable files for the

FlexPendant.

Recovery: arg

41664, The typename is invalid for this

assembly

Description

Task: arg

The inparameter arg is invalid. The typename does not match the

assembly.

Status arg.

Program Ref arg.

Consequences

The view will not be launched.

Recommended actions

Check the inparameters.

Recovery: arg

41665, arg does not match assembly to load

Description

Task: arg

The type or name of the assembly does not match with the used arg.

Status arg.

Program Ref arg.

Consequences

The view will not be launched.

Probable causes

Use of arg without setting it to 0 first.

Recommended actions

Set arg to 0 before using it.

Recovery: arg

41666, Fatal UIShow error

Description

Task: arg

Unknow error code arg received.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Report this to ABB Robotics.

41670, Entire Array Not Allowed As Argument

Description

Task: arg

The argument arg is of data type any type and can for that reason only

be checked during runtime.

An entire array can not be used as argument even if the array is of right

data type.

Program ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Replace the array with a valid argument.

41671, Too high poll rate

Description

Task: arg

The specified poll rate is too high for the robot system.

Program Ref. arg

Consequences

The system can be overloaded.

Recommended actions

Change instruction WaitUntil, argument \PollRate to a value greater

than or

equal to 0.01 s.

41672, Invalid Combination

Description

Task: arg

Invalid combination of paramters in Trigg

Program Ref: arg

Recommended actions

Either run Trigg without /Time option or use TriggRampAO with

option \Time on ramplength.

41673, Index Out Of Bounds

Description

Task: arg

Index for cfg instance was out of bounds

Program Ref: arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

6 Trouble shooting by Event log

270 3HAC020738-001 Revision: K

41674, Value Out Of Bounds

Description

Task: arg

Parameter arg is not between the range of 0 to 100.

Program Ref: arg

Recommended actions

Check and change the RAPID program.

Recovery: arg

41675, Not Integer

Description

Task: arg

Parameter arg is not an integer.

Program Ref: arg

Recommended actions

Check the RAPID program, or use ERROR handler

Recovery: arg

41676, Device access error

Description

Task:arg

Unable to open File or Serial channel, 'arg' does not exist.

Program Ref: arg

Recommended actions

Check file or serial channel name.

Recovery: arg

41677, Device access error

Description

Task: arg

Unable to write to file: arg, the disc is full.

Program Ref: arg

Recommended actions

Make sure there are enough free space on the disc.

Recovery: arg

41678, Device access error

Description

Task: arg

Unable to write to file : arg, The file is write protected.

Program Ref:arg

Recommended actions

Remove the write protection of the file or select a different filename.

Recovery: arg

41679, Device access error

Description

Task: arg

The maximum number of simultaneously opend files is exceeded.

Program Ref: arg

Recommended actions

Close one or more I/O devices and try again

Recovery: arg

41680, String too long

Description

Task: arg

The string arg exceeds the maximum number of characters allowed for

a module.

Program Ref: arg

Recommended actions

Change the string for module name.

Recovery: arg

41682, Too many subscriptions from I/O

Description

Task: arg

The number of simultaneous subscriptions on signal events has been

exceeded.

Program Ref: arg

Recommended actions

Remove some subscriptions on signals or change the time for the

event.

(i.e any ISignalXX or TriggIO)

41683, Argument Error

Description

Task: arg

The argument arg must be given when searching for a not named

parameter.

Program Ref: arg

Recommended actions

Add the parameter arg to the instruction.

41684, Value Error

Description

Task: arg

The argument arg is outside the range of value type unsigned long.

Program Ref: arg

6 Trouble shooting by Event log

2713HAC020738-001 Revision: K

Probable causes

The value is to large.

Recommended actions

Use a smaller value for arg

41685, Not valid value

Description

Task: arg

A wrong combination of switch and value is used.

The signal can have values between:

Min: arg

Max: arg

Switch and value used: arg

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

Wrong value used, or wrong switch used.

Recommended actions

Change the value used, or change the switch argument.

41687, File Open Error

Description

Task: arg

Unable to open arg

Program Ref: arg

An unknown error occured while opening the file.

Probable causes

- If the file was located on an USB disk, check that the disk is not

removed, or has to many files in root folder.

- Check that the given file is not a directory

Recommended actions

Do a check of Probable Causes.

Recovery: arg

41688, Invalid Argument

Description

Task: arg

Inparameter arg is declared as a PERS.

Program Ref: arg

Consequences

The program execution is immediately stopped.

Probable causes

Using a PERS in argument arg to instruction arg.

Recommended actions

Replace the PERS with a valid argument.

41690, Parameter Error

Description

Task: arg

The argument arg is of the type arg and is not valid to use.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Check the data type. Non-value, semi-value types or motsetdata data

type can not be used.

41691, RMQ Error - Client name not valid

Description

Task: arg

The name arg can not be found. It is not a valid RMQ client name.

Program Ref. arg

Probable causes

A non valid name is used.

Recommended actions

Change name to search for.

Recovery: arg

41692, RMQ Error - Not valid Slot

Description

Task: arg

The arg used is not valid.

Program Ref. arg

Consequences

Communication with client with current arg is no longer possible.

Probable causes

1) The arg has not been initialized.

2) The destination slot is not valid anymore. This can happen if a

remote client has disconnected from the controller.

3) Instruction RMQSendWait was restarted after a power fail. When

the instruction is restarted, the arg is set to 0.

Recommended actions

Recovery: arg

41693, RMQ Error - Max size for message

exceeded

Description

Task: arg

6 Trouble shooting by Event log

272 3HAC020738-001 Revision: K

The size of the data in arg exceeds maximum size.

Program Ref. arg

Consequences

The message will not be sent.

Probable causes

Trying to send larger messages then arg. Due to limitations in RMQ,

such big messages can not be sent.

Recommended actions

Send smaller messages.

Recovery: arg

41694, RMQ Error - Not equal datatypes

Description

Task: arg

The datatype in the rmqmessage is of the type arg and the datatype in

argument Data is of the type arg.

Program Ref. arg.

Consequences

No data can be fetched.

Probable causes

1) The data type in the rmqmessage is of type arg and the data type

used in argument Data is of type arg.

2) If the data types has equal names, the structure of the data can be

different.

Recommended actions

1) Use datatype arg in argument Data.

2) Check that the data types are equal defined in both sender and

receiver code.

Recovery: arg

41695, RMQ Error - Not equal dimensions on

data

Description

Task: arg

The data types are equal, but the dimensions differs between the data

in the message and the parameter used in argument arg

Program Ref. arg

Consequences

The data could not be copied.

Recommended actions

Use a parameter in argument arg with equal dimensions as the data in

the message.

Recovery: arg

41696, RMQ Error - Not valid use of instruction

Description

Task: arg

The instruction arg is only supported on TRAP level.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

Instruction arg is used either on user execution level or normal

execution level.

Recommended actions

Remove instruction, or move it to a TRAP routine.

41697, RMQ Error - No RMQ configured

Description

Task: arg

No RMQ is configured for task arg.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

No configuration has been added for the RAPID Message Queue.

Recommended actions

Add configuration for the RAPID Message Queue.

41698, RMQ Error - Faulty use of instruction

Description

Task: arg

Instruction arg can only be used on normal level, not in a TRAP

routine or service routine.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

Instruction arg used on wrong level.

Recommended actions

Use instruction on normal level.

41699, RMQ Error - Max size for message

exceeded

Description

Task: arg

The size of the data in arg exceeds maximum size.

Program Ref. arg

6 Trouble shooting by Event log

2733HAC020738-001 Revision: K

Consequences

The message will not be sent.

Probable causes

Trying to send larger messages then allowed. The receiving client is

not configured to receive the size of the message sent.

Recommended actions

Change the size of the RMQ for the receiver, or send smaller messages.

Recovery:arg

41700, RMQ Error - Interrupt setup failed

Description

Task: arg

Two different interrupt identities can not be used for the same data type

in instruction arg. Each data type need a unic interrupt identity and

unic TRAP routine.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

Same data type is used in two arg instructions with two different

interrupt identities.

Recommended actions

An unic interrupt identity is needed for each data type when order and

enable interrupts for a specific data type.

41701, RMQ Error - No message to collect

Description

Task: arg

Instruction arg failed. There was no message to collect.

Program Ref. arg

Consequences

No message was collected.

Probable causes

1) This can happen if ta power fail occur between the trap was ordered

and the instruction arg was executed.

2) If multiple use of arg in a TRAP routine.

3) If using arg in a TRAP routine that execute without any new

message in the RMQ.

Recommended actions

Recovery: arg

41702, RMQ Error - arg not valid

Description

Task: arg

Use of non-valid data in argument arg.

Program Ref.arg

Consequences

The program execution is immediately stopped

Probable causes

Use of a variable arg that not contain any valid data. The variable has

only been initialized, no valid data has been copied to the variable.

Recommended actions

Check the RAPID program.

41703, RMQ Error - Data could not be copied

Description

Task: arg

The data type arg exceeds the maximum size supported for the RMQ

configured for task arg.

Program Ref. arg

Consequences

No message has been received.

Probable causes

The RMQ of the receiving task is not configured for the size of the data

sent. The sending client have sent data that is bigger then the size the

RMQ for task arg can receive.

Recommended actions

Increase the size of the RMQ for task arg.

Or, send less data.

Recovery: arg

41704, RMQ Error - Full Queue

Description

Task: arg

The client named arg can not receive more messages.

Program Ref. arg

Consequences

The sent message will be thrown.

Probable causes

The client does not receive in the same pace as the sender is sending

messages. If using instruction arg, you might need a wait time between

each arg instruction.

Recommended actions

The client should receive messages to make room for new messages.

Or the sender should limit the number of messages sent.

Recovery: arg

41705, RMQ Error - Max Time Expired

Description

Task: arg

The programmed waiting time has expired.

Program Ref. arg

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274 3HAC020738-001 Revision: K

Consequences

There is no guarantee that the message has arrived to the client.

Probable causes

1) The client that should receive the message is not interested of

receiving data of the specified data type. The message has been

discarded.

2) The client has received the message, and in the answer sent a data

type not matching with the specified data type used in arg of

instruction arg.

3) The client has received the message. The answer is delayed so the

time out time for instruction arg expired.

Recommended actions

1) Check the client program.

2) Increase the waiting time for instruction arg.

Recovery: arg

41706, RMQ Error - Max Time Expired

Description

Task: arg

The programmed waiting time has expired.

Program Ref. arg

Consequences

No message has been received.

Probable causes

The time out time for instruction arg expired.

Recommended actions

Increase the waiting time for instruction arg.

Recovery: arg

41707, RMQ Error - Instruction invalid in current

mode

Description

Task: arg

arg is only allowed when RMQ is configured in arg mode.

Program Ref: arg

Consequences

The program execution is immediately stopped

Probable causes

The RMQ is configured in arg mode

Recommended actions

Change the configuration of the RAPID Message Queue in arg to arg

mode, or use an instruction that is allowed in the current mode.

41708, RMQ Error - Invalid message

Description

Task: arg

The received RMQ message was invalid.

Program Ref: arg

Consequences

The received RMQ message was discarded.

Probable causes

A received RMQ message had a corrupt header or data part.

Recommended actions

Recovery: arg

41711, Value is not percent

Description

Task: arg

The value of argument arg is not a valid percent.

Program Ref: arg

Recommended actions

Check that the value is in the range of 0 to 100.

41712, Argument Error

Description

Task: arg

Tooldata arg has been defined, but is no longer available in the system.

Program Ref: arg

Probable causes

Tooldata might have been defined in a module that is no longer

available in the system.

41713, Argument Error

Description

Task: arg

Wobjdata arg has been defined, but is no longer available in the

system.

Program Ref: arg

Consequences

Wobjdata might have been defined in a module that is no longer

available in the system.

41714, Too many error events

Description

Execution of task arg has stopped. There are too many unhandled

error events in queue. The system can only handle one error event at a

time.

Consequences

The system goes to blocked state and can not be restarted before

moving the program pointer to an arbitrary position.

6 Trouble shooting by Event log

2753HAC020738-001 Revision: K

Probable causes

A power fail restart (warm start) occurred while handling a process

error.

Recommended actions

Never warm start the system while handling a process error. If warm

start is needed, first move PP to Main in all tasks to reset the process

error.

41715, Invalid Direction

Description

Task: arg

The argument arg must be either CSS_X, CSS_Y or CSS_Z.

Program Ref: arg

Recommended actions

Check the value of arg

41716, Invalid Offset Direction

Description

Task: arg

The argument arg must be either

CSS_POSX, CSS_NEGX, CSS_POSY, CSS_NEGY, CSS_POSZ,

CSS_NEGZ

Program Ref: arg

Recommended actions

Check the value of arg

41717, Too Low Value

Description

Task: arg

The value of argument arg is too low.

Program Ref: arg

Recommended actions

Increase the value of arg

41718, Invalid Dimensions

Description

Task: arg

Dimension arg on searched symbol is incompatible with dimension

arg in argument.

Program Ref: arg.

A dimension of '{0}' means given symbol is of non array type.

Recommended actions

Recovery: arg

41719, Illegal Parameter

Description

Task: arg

The symbol in argument arg is an array from a parameter. Arrays from

paramters are illegal to use in SetDataVal/GetDataVal.

Program Ref: arg

41720, Path Not In Stop Point

Description

Task: arg

The path did not finish for the following task(s): arg make sure the task

is running.

Program Ref: arg

Probable causes

The task is not running or the movement has been stopped.

Recommended actions

Recovery: arg

41721, Invalid Argument

Description

Task: arg

The type arg in argument arg is invalid.

Program Ref: arg

Recommended actions

Change the type to a valid one (arg).

41722, Too High Value

Description

Task: arg

The value of argument arg is too high. The value must be between arg

and arg.

Program Ref: arg

41723, Bus is in error state

Description

Task: arg

The I/O unit arg can not be activated. The bus arg is in error state.

Program Ref. arg

Consequences

Unit arg could not be activated.

Probable causes

Bus is in error state.

Recommended actions

Recovery:arg

6 Trouble shooting by Event log

276 3HAC020738-001 Revision: K

41724, Current Work Object is Invalid

Description

Task: arg

Cartesian Soft Servo Activation is not allowed with a moving work

object. Only a programmed user frame is allowed.

Program Ref: arg

41725, Invalid Configuration Settings

Description

Task: arg

The configuration parameters for Cartesian Soft Servo are invalid.

The current combination can lead to unstable behaviour.

Program Ref arg

Recommended actions

Change the configuration for Cartesian Soft Servo

41726, Ignored StopMoveReset actions for task

Description

Task: arg

The StopMoveReset instruction had no impact on the system

Program Ref: arg

Consequences

The StopMove was not reset.

Probable causes

1. The motion task has not been stopped.

2. The motion task was stopped by another non motion task: arg.

This time the cause was arg.

Recommended actions

Use the switch \AllMotionTasks in StopMoveReset if this instruction

should reset a StopMove from another non motion task.

41727, The size can not be represented in a num

Description

Task: arg

When using instruction arg to read the size of the file system, it was

detected that the value is to big to be set in a num.

Program Ref:arg

Consequences

The size can not be read.

Probable causes

The value can not be represented in a num.

Recommended actions

Use a switch to specify another unit to show the size in.

Recovery: arg

41730, Signal exceeds max number of allowed

bits

Description

Task: arg

The signal arg is too big. If using signals over 23 bits, use the datatype

triggiosdnum that accept signals up to 32 bits.

Program ref. arg

Recommended actions

Group signals can have 23 bits or less if using datatype triggios in arg

instruction.

41731, Signal name undefined

Description

Task: arg

The signal arg is unknown in the system.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

The signal must be defined in the system parameters.

Recommended actions

Define the signal in the system parameters.

41732, Too many trigs used

Description

Task: arg

Too many trigs has been set up for instruction arg. The limit is arg.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Remove some trig actions in arg instruction.

41737, Instruction order Error

Description

Task: arg

The instruction arg needs to be executed before instruction arg.

Program Ref. arg.

Probable causes

Instruction arg was executed before instruction arg.

Recommended actions

Execute instructions in right order.

Recovery: arg

6 Trouble shooting by Event log

2773HAC020738-001 Revision: K

41738, Wrist Interpolation option needed

Description

Task: arg

Instruction arg is used with a switch that requires option Wrist

Interpolation.

Program Ref.arg

Consequences

The program execution is immediately stopped

Probable causes

Missing a Robotware option.

Recommended actions

Do not use any of the following switches: arg.

41739, StorePath required

Description

Task: arg

Instruction arg is executing in an error handler or a trap routine. Use

arg before using a movement instruction on other level then base.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Probable causes

A movement instruction executed without having the path stored.

Recommended actions

Execute arg before using movement instruction arg.

Read Programming type examples in the RAPID manual to see how to

use movement instructions in TRAP routines and error handlers.

41740, Load Identification failed

Description

Task: arg

WARNING!

Not possible to identify the mass for the arg because of too small

weight for automatic load identification.

Program Ref. arg

Recommended actions

Do a manually estimation of the actual load and manually edit the

RAPID program.

41741, Calculation overflow

Description

Task: arg

The calculation result is not within the range 0 - 4294967295.

Program Ref. arg

Consequences

The calculation will return error.

Probable causes

The values in the operation is probably to big.

Recommended actions

Recovery: arg

41742, Negative subtraction

Description

Task: arg

The subtraction result is negative.

Program Ref.arg

Consequences

The calculation will return error.

Probable causes

The first value in the subtraction is smaller than the second value.

Recommended actions

Make sure the first value is larger than the second upon subtraction.

Recovery: arg

41743, Division with zero

Description

Task: arg

Division with zero

Program Ref. arg

Consequences

Calculation will return error.

Probable causes

Division with zero.

Recommended actions

Recovery: arg

41744, Instruction Error

Description

Task: arg

The program is executing in an ERROR handler. It is not allowed to

execute the instruction arg in an ERROR handler.

Program Ref. arg

Recommended actions

Remove the instruction

41745, Instruction Error

Description

Task: arg

6 Trouble shooting by Event log

278 3HAC020738-001 Revision: K

The program is executing in an BACKWARD handler. It is not allowed

to execute the instruction arg in an BACKWARD handler.

Program Ref. arg

Recommended actions

Remove the instruction

41746, Instruction Error

Description

Task: arg

The program is executing at USER level, i.e. in an event routine or a

service routine. It is not allowed to execute the instruction arg at USER

level.

Program Ref. arg

Recommended actions

Remove the instruction

41747, Process signal off

Description

Task: arg

The process signal arg is set to off (0).

Program Ref. arg

Consequences

A recoverable error ERR_PROCSIGNAL_OFF is thrown.

Probable causes

The optional argument \ProcSignal has been used for the instruction

ProcerrRecovery. The signal makes it possible for the user to turn on/

off the instruction ProcerrRecovery.

Recommended actions

Add an error handler for ERR_PROCSIGNAL_OFF error or remove

the optional argument \ProcSignal from the instruction call.

41748, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Recommended actions

Check the RAPID program.

Recovery: arg

41749, Value Error

Description

Task: arg

The value for parameter arg is out of limit.

Program Ref: arg

Probable causes

The value is to large.

Recommended actions

Use a smaller value for arg.

Recovery: arg

41750, Not allowed value

Description

Task: arg

Illegal value in argument arg.

Program ref. arg

Probable causes

1) The system has interpreted the expression as a num data type, and

the value is above the maximum integer value for num (value

8388608).

2) The system has interpreted the expression as a dnum data type, and

the value is above the maximum integer value for a dnum (value

4503599627370496).

Recommended actions

Check and change the value.

The parameter name arg can give you information about how the

system interpreted the indata.

41751, Array size error

Description

Task: arg

The array arg is not big enough to fit arg number of elements.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Change the size of the array to fit all elements.

41752, Num Limit Error

Description

Task: arg

The value for parameter arg is out of limit.

Program Ref. arg

Recommended actions

Recovery: arg

41753, Invalid path level

Description

Task: arg

Program Ref. arg

arg requires the robot to run at the first path level.

6 Trouble shooting by Event log

2793HAC020738-001 Revision: K

Consequences

The program execution is immediately stopped.

Probable causes

Executing arg on wrong path level.

Recommended actions

Check the RAPID program.

41754, Path Recorder cleared

Description

Task: arg

WARNING!

Path Recorder is cleared. The stored path is cleared before doing

friction identification.

Program Ref. arg

41755, Path time too long

Description

Task: arg

Execution time is too long for friction tuning. arg > arg, which is the

maximum time in seconds.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Increase speed or shorten the length of the path.

41756, Missing FricIdInit

Description

Task: arg

arg must be executed before arg.

Program Ref. arg

Consequences

The program execution is immediately stopped.

41757, Mechanical unit not found

Description

Task: arg

Mechanical unit arg not found.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Specify another mechanical unit.

41758, Array too small

Description

Task: arg

The array used is too small.

The size of the array arg must be equal to arg, the number of robot

axes.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Increase the size of the array arg.

41759, Signal exceeds max number of allowed

bits

Description

Task: arg

The signal arg is too big.

Program ref. arg

Recommended actions

Group signals consisting of 23 bits or less can be used in IF statements

and assigned to the num datatype.

Group signals consisting of 24 - 32 bits can not be used in IF

statements. Instead use the functions arg or arg.

41760, arg when in synchronized mode

Description

Task: arg

arg cannot be used together with synchronized movement.

Program ref.: arg

Consequences

The program execution is immediately stopped.

Recommended actions

Remove any SyncMoveOn between arg and arg

41761, Value out of range

Description

Task: arg

The integer value arg can not be copied to a arg datatype. The value is

out of limit for the data type arg.

Program ref.: arg

Consequences

The program execution is immediately stopped.

Recommended actions

Use a variable of the type arg instead of a variable of type arg.

6 Trouble shooting by Event log

280 3HAC020738-001 Revision: K

41762, The argument string value is invalid

Description

Task: arg

The argument string arg is invalid and can not be converted.

Program ref.: arg

Consequences

The program execution is immediately stopped.

Probable causes

1) The only valid letter characters is a-f and A-F and only for

HexToDec.

2) The ., - and + characters is not valid for HexToDec.

3) The - character is not valid for DecToHex.

4) The value is not an valid integer.

Recommended actions

Edit the argument value string so it gets valid and can be converted.

41763, The argument string value is too high

Description

Task: arg

The argument string arg value exceeds the highest supported value in

the system.

Program ref.: arg

Consequences

The argument value string is converted but it is set to the highest

supported value (9223372036854775807).

Probable causes

The argument string value exceeds the highest supported value.

Recommended actions

Edit the argument value string so it do not exceed the highest supported

value.

41764, Wrong combination in arg

Description

Task: arg

When using instruction arg, you can not add a dnum variable/

persistent to a num variable/persistent.

Program ref.: arg

Probable causes

The value to be added is of the type dnum, and the variable/persistent

that should be changed is a num.

Recommended actions

Read about arg in RAPID reference manual

41765, The argument value is too high

Description

Task: arg

Too high value in argument arg.

Program Ref. arg

Probable causes

The argument value exceeds the highest supported value. (arg)

Recommended actions

Decrease the value for argument arg.

Recovery: arg

41766, Illegal combination of inarguments

Description

Task: arg

It is not allowed to combine argument arg with argument arg.

The value to be stored in the variable can be higher then the maximal

value for a num integer.

Program Ref. arg

Consequences

The program execution is immediately stopped.

Recommended actions

Use argument arg instead.

50021, Joint position error

Description

Actual position of joint arg is too far away from the ordered position.

Recommended actions

Check tuning parameters, external forces or hardware.

50022, Too low DC-link voltage

Description

The drive units cannot detect the dc link voltage, or the voltage is too

low.

This can occur if the DC link bus bar is not correctly inserted or if the

mains contactors do not close properly.

Recommended actions

Check the DC bus bar is correctly inserted between the drive unit and

the rectifier.

Check that the motors on contactors are closed and that there is voltage

on the side connected to the rectifier.

50024, Corner path failure

Description

Task: arg

6 Trouble shooting by Event log

2813HAC020738-001 Revision: K

Corner path executed as stop point due to some of the following

reasons:

- Time delay.

- Closely programmed points.

- System requires high CPU-load.

Program Ref. arg

Recommended actions

- Reduce the number of instructions between consecutive move

instructions.

- Reduce speed, use wider spaced points, use /CONC option.

- Increase ipol_prefetch_time.

50025, Restart interrupted

Description

Current position is too far from path.

Recommended actions

Make a new restart with regain.

50026, Close to singularity

Description

Task: arg

Robot too close to singularity.

Program Ref. arg

(Internal code: arg)

Recommended actions

Modify path away from the singularity or change to joint interpolation.

50027, Joint Out of Range

Description

Position for arg joint arg is out of working range.

Recommended actions

Use the joystick to move the joint into its working range.

50028, Jog in wrong direction

Description

Position for arg joint arg is out of working range.

Recommended actions

Use the joystick to move the joint in opposite direction.

50029, Robot outside its limits

Description

The robot arg has reached the configuration limit for the parallelogram

transmission.

Recommended actions

Use the joystick to move the involved joint into the working range

again.

50030, Robot outside its limits

Description

Jogging was made in wrong direction when parallelogram was out of

working range for robot arg.

Recommended actions

Use the joystick to move the joint in opposite direction.

50031, Command not allowed

Description

System parameters cannot be changed in MOTORS ON state.

Recommended actions

Change to MOTORS OFF.

50032, Command not allowed

Description

An attempt was made to calibrate while in MOTORS ON state.

Recommended actions

Change to MOTORS OFF.

50033, Command not allowed

Description

An attempt was made to commutate the motors in MOTORS ON state.

Recommended actions

Change to MOTORS OFF.

50035, Command not allowed

Description

An attempt was made to synchronize in MOTORS ON state.

Recommended actions

Change to MOTORS OFF.

50036, Correct regain impossible

Description

A stop occurred with too many close points with corner zones. At

restart the robot will move to a point farther forward in the program.

Recommended actions

Reduce the number of close points, increase the distance between them

or reduce the speed.

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282 3HAC020738-001 Revision: K

50037, MOTORS ON order ignored

Description

MOTORS ON order ignored since the previous stop was not yet

acknowledged.

Recommended actions

Order MOTORS ON again.

50041, Robot in a singularity

Description

The robot is too close to a singularity.

Recommended actions

During program execution, use SingArea instruction or joint

interpolation.

During jogging, use axis by axis.

50042, Could not create path

Description

The path could not be created.

Recommended actions

Increase the distance between close points and/or decrease speed and/

or change acceleration value.

50050, Position outside reach

Description

Position for arg joint arg is outside working area.

Joint 1-6 : Number of the axis which causes the error.

Joint 23: Combination of axis 2 and 3 causes the error.

Probable causes

The reason may be that ConfL_Off is used and a movement is too

large, more than 90 degrees for an axis.

Recommended actions

- Check work object or working range.

- Move the joint in joint coordinates.

- Check motion configuration parameters.

- Insert intermediate points on large movements.

50052, Joint speed error

Description

The speed of joint arg is wrong relative the ordered speed due to error

in system or collision.

Recommended actions

- Check the tune parameters, external forces on the joint and hardware.

- Reduce programmed speed.

50053, Too large revolution counter difference

Description

Too large revolution counter difference for joint arg. The system has

detected too large a difference between the actual revolution counter

value on the serial measurement board and the value anticipated by the

system.

Consequences

The robot is not calibrated and may be jogged manually, but no

automatic operation is possible.

Probable causes

The position of the robot arm may have been changed manually while

the power supply was switched off. The serial measurement board,

resolver or cables may also be faulty.

Recommended actions

1) Update the revolution counter.

2) Check resolver and cables.

3) Check the serial measurement board to determine whether it is

faulty. Replace the unit if faulty.

50055, Joint load too high

Description

Actual torque on joint arg too high. Might be caused by incorrect load

data, too high acceleration, high external process forces, low

temperature or hardware error.

Recommended actions

-Check load data.

-Reduce acceleration or speed.

-Check hardware.

50056, Joint collision

Description

Actual torque on joint arg is higher than ordered while at low or zero

speed. Might be caused by jam error (the arm has got stuck) or

hardware error.

Recommended actions

Check that arm is not stuck.

Check hardware.

Check for other hardware eventlogs.

50057, Joint not synchronized

Description

The position of joint arg after power down/failure is too far away from

the position before the power down/failure.

Recommended actions

Make a new update of the revolution counter.

6 Trouble shooting by Event log

2833HAC020738-001 Revision: K

50058, Tool coord. system error

Description

The z-direction of the tool coordinate system is almost parallel with the

path direction.

Recommended actions

Change the tool coordinate system to achieve at least 3 degrees

deviation between z-direction and path direction.

50060, Incorrect tool

Description

The definition of stationary tool is not valid.

Recommended actions

Check the tool and object data.

50063, Circle uncertain

Description

Task: arg

The points are misplaced, reasonarg:

1 End point too close to start point.

2 Circle point too close to start point.

3 Circle point too close to end point.

4 Uncertain reorientation.

5 Circle too large > 240 degrees.

Program Ref. arg

Recommended actions

Check the points of the circle and the end point of the move instruction

before. The points of the circle can be verified by stepping trough the

circle in manual mode.

50065, Kinematics error

Description

The destination of the movement is outside the reach of the robot or too

close to a singularity. Robot arg.

Recommended actions

Change the destination position.

50066, Robot not active

Description

Attempt to coordinate motion or calculate position of deactivated robot

arg.

Recommended actions

Activate robot via the Motion Unit key, then Jogging window, or

program. Check work object and program.

50067, Unit not active

Description

Attempt to coordinate motion or calculate position of deactivated

single unit arg.

Recommended actions

Activate unit via Motion Unit key, then Jogging window, or program.

Check work object and program.

50076, Orientation not correct

Description

Orientation is incorrectly defined.

Recommended actions

Make an accurate normalization of the quaternion elements.

50078, Too many close positions

Description

Too many consecutive closely spaced positions.

Recommended actions

Increase the distance between consecutive close positions.

50079, Cannot use wrist weaving

Description

Wrist weaving not possible.

Recommended actions

Use smaller weaving amplitude or a larger TCP.

50080, Position not compatible

Description

The desired position cannot be reached with the given robot

configuration. Robot arg.

Recommended actions

Modify the robot position in the program.

50082, Deceleration limit

Description

The path calculation for mechanical units running in motion planner

arg exceeds internal limit. The motion planner task did not execute

within its time limit.

Probable causes

The cpu load is to high. Could for example be generated by to frequent

EIO communication.

Recommended actions

1. Set system parameter High Interpolation Priority for the affected

Motion Planner.

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284 3HAC020738-001 Revision: K

2. Try to reduce the cpu load by one or more of the following actions:

- Reduce speed

- Change AccSet

- Avoid singularity (SingArea\Wrist).

- Increase Path Resolution for the affected Motion Planner using

system parameter or by using the Rapid instruction PathResol for

critical movements.

50083, Speed lowered by system.

Description

The speed has been lowered by the system due to dynamic limitations.

Recommended actions

Decrease speed and/or do not use close positions at high speed and/or

increase acceleration (if below 100%).

50085, Too many user frames.

Description

For mechanical unit arg more than one user frame has been defined.

Recommended actions

Take away one user frame or define one more mechanical unit.

50086, Singularity problem

Description

Too close to wrist singularity with respect to numerical resolution for

joint 4 of arg.

Recommended actions

Change destination position a few increments.

50087, Singularity problem

Description

Too close to wrist singularity with respect to numerical resolution for

joint 6 of arg.

Recommended actions

Change destination position a few increments.

50088, Restart not possible

Description

It is not possible to restart the path due to a previous error.

Recommended actions

Move the program pointer to clear the path and start a new movement.

50089, Weaving changed

Description

Task: arg

The ordered weaving is not achieved due to:

- high weaving frequency

- not allowed shift of weave method or

- that SingArea/Wrist is used with wrist weave.

Program Ref. arg

Recommended actions

Increase weave length or period time.

Don't shift between arm and wrist weave.

Use SingArea/Off with wrist weave.

50091, Restart not possible.

Description

Restart no longer possible. Change of unit state made restart of

program impossible.

Recommended actions

Move the program pointer and start a new movement.

50092, Axis computer response

Description

Incorrect response from axis computer.

Recommended actions

Check motion configuration parameters.

Check axis computer hardware.

50094, TuneServo not possible

Description

Tuning is not implemented for the specified joint.

Recommended actions

Verify that a parameter and/or joint that can be used with TuneServo is

chosen.

50095, Cannot access joint.

Description

Cannot access external joint.

Recommended actions

Check configuration and activation of external Joints.

50096, TuneServo not allowed

Description

Tuning is not allowed for the specified joint.

Recommended actions

Verify that a parameter and/or joint that can be used with TuneServo is

chosen.

6 Trouble shooting by Event log

2853HAC020738-001 Revision: K

50100, Manipulator configuration

Description

There are more configurations or numerical errors in motion domain.

Recommended actions

Correct previous ones and try again.

50101, Manipulator configuration

Description

'arg' is not free for the param.

'arg' in type 'arg' named 'arg'.

Recommended actions

Use another one. For internal names, see moc_chk.log.

50102, Manipulator configuration

Description

'arg' used in the parameter 'arg' in type 'arg' named 'arg' is not defined.

Recommended actions

Use another one that is defined or define the used one. For internal

names, see moc_chk.log.

50103, Manipulator configuration

Description

The orientation defined by quaternions including 'arg' in the type 'arg'

named

'arg' is not normalized.(SQRSUM =1)

Recommended actions

Check the quaternions and/or recalculate them. For internal names, see

moc_chk.log.

50104, Manipulator configuration

Description

The parameter 'arg' in type 'arg' named 'arg' is not 'arg'.

Recommended actions

Check the value. For internal names, see moc_chk.log.

50128, Manipulator configuration

Description

Terminating the topic check for manipulator due to earlier errors.

Recommended actions

Correct the reported errors and run topic check again.

50132, Commutation failed

Description

Commutation failed for joint arg.

Recommended actions

- Make a new commutation.

- Restart the system.

50133, Test signal error.

Description

No test signals are available for robot arg.

Recommended actions

Verify that correct test signals are defined.

50134, Corr. vector warning

Description

Sensor correction vector calculations failed due to previous error.

Recommended actions

50135, SoftAct not possible.

Description

Soft servo is not possible to activate.

Recommended actions

Verify that a joint that can be used with SoftAct is chosen.

50137, No finepoint

Description

Continous mode without any finepoint in the program.

Recommended actions

Change at least one corner zone in the program to a fine point.

50138, Arm check point limit

Description

The robot arg has reached the limit for arm check point.

Recommended actions

Use the joystick to move the involved joint into the working range

again.

50139, Arm check point limit

Description

Jogging was made in wrong direction when arm check point was out

of working range for robot arg.

Recommended actions

Use the joystick to move the joint in opposite direction.

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286 3HAC020738-001 Revision: K

50140, Payload too large

Description

Heavy payload caused static torque limit to be exceeded on joint arg.

Recommended actions

Check and reduce payload for arm and/or wrist. Reduce joint working

range to decrease static torque due to gravity.

50141, Jog or Speed error

Description

One of the following problems occured:

-Jogging error

-High speed error

-Robot too close to singularity

Recommended actions

-Jog with incremental movement

-Reduce the programmed speed

50142, Manipulator configuration

Description

Configuration of the manipulator failed.

arg

Recommended actions

Check the parameter values under System parameters:Manipulator. If

mismatch between int/ext parameters i.e. wrong MOC.cfg loaded -

cold start the system with correct parameters.

50143, Robot axes configuration

Description

Actual configuration is not the same as ordered and/or movement of

any robot axis is larger than 90 degrees. Robot arg, axis arg.

Recommended actions

Use SingArea_Wrist, ConfL_Off, modify position or insert

intermediary point.

Proceding in Auto mode will not be possible without correcting the

configuration. To be able to move to the position anyway change to

Manual mode and repeat start.

50144, Displ frame uncertain

Description

Calibration of displacement frame uncertain for robot arg, due to one

or several of:

- Wrong TCP.

- Reference points inaccurate.

- Reference points badly spaced.

Recommended actions

If estimated error is unacceptable:

- Verify that correct TCP is used.

- Try more than 3 reference points.

- Be careful when positioning robot to reference points.

50145, Kinematic limitation

Description

Kinematic limitation for robot arg, no solution found.

- Long segment.

- Position close to singularity.

- Joint 1, 2 or 3 out of range.

- Position outside reach.

Recommended actions

- Insert an intermediary point to reduce the length of the segment.

- Use MoveAbsJ.

- Check working range.

50146, Restart limitation

Description

Corner path executed as a stop point. Power fail restart not possible

near the stop point.

Recommended actions

Use finepoint in the Move-instr before RestoPath, ActUnit, Wait or

Stop-instr to make power fail restart possible.

50147, Power fail restart failed

Description

Re-creation of the path failed.

Recommended actions

Move the program pointer and start a new movement.

50153, Command not allowed

Description

Task: arg

The given instruction, or command, was not allowed since the robot

program was executing in a hold state.

(Internal code: argarg)

Program Ref. arg

Recommended actions

Modify program or stop program execution before issuing command.

50154, Command not allowed

Description

SingArea\Wrist mode interpolation is not supported for the arg robot.

6 Trouble shooting by Event log

2873HAC020738-001 Revision: K

Recommended actions

Replace SINGAREA\WRIST instruction with SINGAREA\OFF.

50155, Power fail restart failed

Description

Not possible to restart the Move-instruction before RestoPath,

ActUnit, Wait or Stop-instruction.

Recommended actions

Remove MOTION WARNING 50146 Restart limitation, by changing

the Move-instruction to finepoint. Move the program pointer and start

a new movement.

50156, Not an independent joint

Description

Joint arg is not configured as an independent joint.

Recommended actions

Modify the program or configure the joint as an independent joint.

50157, Corr. vector warning

Description

Sensor correction vector X calculations failed due to previous error.

Recommended actions

50158, Sensor process missing

Description

Sensor process missing during initialization. Named sensor process

arg could not be found or initialized.

Recommended actions

Check process name in motion and process configuration files.

50159, No external process

Description

Attempt to coordinate motion or calculate position of single arg

without an external process.

Recommended actions

Check process name in motion and process configuration files.

50160, Cannot reach position

Description

Programmed position of independent joint arg is outside working

range and thus cannot be reached.

Recommended actions

- Change the position.

- Check the joint working area limits.

- Check the used work object.

50161, Singularity area

Description

Robot arg is close to a singularity. Work area with kinematic

limitations.

Recommended actions

During jogging, use axis by axis. During program execution, use

MoveAbsJ.

50162, Internal position error

Description

Error caused by internal numerical limitation.

Recommended actions

- Reset independent joint.

- Reduce work area if extended.

- Remove or separate close points.

50163, Position adjustment

Description

External position adjustment too large. TCP speed, orientation speed,

or external position speed exceed allowed robot performance.

Recommended actions

- Reduce programmed TCP- and orientation speeds.

- Modify the path.

- WaitWObj closer to sync.

- Run in AUTO.

50164, Deactivation not possible

Description

Deactivation of mechanical unit may not be done while in independent

mode.

Recommended actions

Make sure that independent mode is not used and try to deactivate

again.

50167, Warning: new sync

Description

Warning: a new object sync signal has arrived while conveyor is active

and program is running.

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288 3HAC020738-001 Revision: K

Recommended actions

50168, New sync on arg

Description

New object sync arrived while conveyor was tracking the previous

object. Cannot track two objects simultaneously.

Recommended actions

Reduce speed of conveyor. Increase programmed speed.

50171, Speed too low

Description

Numerical problem when interpolation of long segments with low

speed and heavy additional axes or when interpolation close to

singularity.

Recommended actions

Split segments with long interpolation time (path_resolution * 4

minutes) or change to joint interpolation or move position away from

singularity.

50172, MoveJ not allowed

Description

MoveJ not allowed with work object coordinated with external

position mechanical unit.

Recommended actions

Change interpolation mode or work object.

50173, Fine point necessary

Description

Use fine point when changing tool or work object coordination when

work object is coordinated with external position mechanical unit.

Recommended actions

Create a fine point and then change the tool.

50174, WObj not connected

Description

The WObj is not connected to the conveyor arg. Robot TCP cannot be

coordinated to work object. Object can be dropped because of time

synchronization fault on conveyor node.

Recommended actions

Check for missing WaitWObj.

Check for DropWObj occuring before end of coordination.

Check for time synchronization fault, see status on conveyor node.

50175, Conveyor moving

Description

Conveyor arg moving while attempt to coordinate robot TCP to

conveyor work object while in prohibited mode.

Recommended actions

It is not possible to coordinate to conveyor while in Manual Reduced

Speed, or stepping in Auto, and the conveyor is moving.

50176, Conveyor not active

Description

Conveyor arg was not active when attempt to coordinate robot TCP to

conveyor work object.

Recommended actions

Make sure conveyor mechanical unit is active. Check for fine point for

last coordinated motion before DeactUnit.

50177, Unable to restart

Description

Conveyor arg moving while attempting to restart or before pressing

Stop or stepping through program.

Recommended actions

Make sure conveyor is standing still. Move the program pointer and

start a new movement.

50178, Non optimal movement

Description

Required torque too high. Manual adjustment of acceleration or speed

is needed.

Recommended actions

Reduce acceleration (AccSet 50 100) in this movement, restore it

afterwards (AccSet 100 100). Optimize performance by search for max

acceleration 50-99. Alternatively, reduce speed.

50181, Out of coupled range

Description

Joint arg and arg are out of coupled working range.

Recommended actions

Use the joystick to move joints into their coupled working range.

50182, Jog in wrong direction

Description

Joint arg and arg are out of coupled working range.

Recommended actions

Use the joystick to move joints into their coupled working range.

6 Trouble shooting by Event log

2893HAC020738-001 Revision: K

50183, Robot outside work area.

Description

The robot has reached the World Zone arg, arg

Recommended actions

Check the reason of the World Zone. Use the joystick to move the robot

out of the World Zone if needed.

50184, Corr. vector warning

Description

Sensor correction vector calculations failed due to previous error.

Recommended actions

50185, Corr. vector warning

Description

Sensor correction vector calculations failed due to previous error.

Recommended actions

50186, Missing function

Description

Not possible to run robot arg with coordinated base frame. Function

not installed in this system.

Recommended actions

Install the option Multiple Axis Positioner.

50187, Missing function

Description

Not possible to coordinate user frame with robot arg Function not

installed in this system.

Recommended actions

Install the option Multiple Axis Positioner.

50188, Non optimal movement

Description

Required torque too high. Manual adjustment of weave frequency or

amplitude is needed.

Recommended actions

Reduce weave frequency or weave amplitude in this movement.

Alternatively, reduce speed.

50189, Relay signal not found

Description

The signal arg for relay arg is not found in the I/O configuration. The

mechanical unit using this relay is ignored.

Recommended actions

Check I/O signal definitions and System Parameters definition of

Manipulator, Types: Relay.

50190, Permanent interpolator lock error

Description

Scanned number of active joints not equal to expected number of

joints.

Recommended actions

Check configuration of the unit that is using general kinematics.

50191, Too many TCP speed's

Description

The number of TCP speed's in one segment is too large. Maximum

number of TCP speed's is arg.

Recommended actions

Check if one segment has too many TCP speed's set or if a sequence of

segments have increasing DipLag.

50192, Jogging error

Description

Jogging is started too soon after program stop.

Recommended actions

Try to jog the robot again.

50193, Joint not synchronized

Description

The speed of joint arg before power down/failure was too high.

Recommended actions

Make a new update of the revolution counter.

50194, Internal position error

Description

Error caused by internal numerical limitation. Joint number arg.

Calculated reference position = arg.

Recommended actions

- Adjust the system parameters in Uncal ctrl master 0.

- If TuneServo is used, adjust parameter Tune_df.

50195, Cannot move independent

Description

Joint arg cannot be moved in independent mode.

Recommended actions

Make sure that independent mode is not used when trying to move

joint.

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290 3HAC020738-001 Revision: K

50196, Calibration failed

Description

Points 0 and 1 too close.

Recommended actions

Make a new calibration with larger distance between points 0 and 1.

50197, Calibration failed

Description

Points 0, 1, 2 on a line or point 2 too close to points 0 or 1.

Recommended actions

Make a new calibration with points moved so that 0, 1 and 2 are not on

a line or with larger distance between point 2 and points 0 and 1.

50198, Calibration failed

Description

Internal error during calibration due to unknown origin switch.

Recommended actions

- Report the occurance to ABB.

- Make a new calibration.

50200, Torque error

Description

Torque calculation error due to high speed for mechanical unit arg.

Internal info code arg

Recommended actions

- Check load data.

- Reduce speed.

50201, Orientation outside reach

Description

The error of the programmed orientation exceeds the acceptance limit.

Recommended actions

- Adjust robtarget orientation.

- Adjust/check orientations of currently used frames: tool frame, base

frame, user frame, object frame.

- It is possible (but not recommendable) to switch off the orientation

supervision using the corresponding system parameter. Please see

system parameters documentation for details (Topic Motion/Type

Robot).

50203, Measurement node used

Description

The measurement node for joint arg is already used.

Recommended actions

Select another node.

50204, Motion supervision

Description

Motion supervision triggered for axis arg on mechanical unit arg.

Consequences

The movement of mechanical unit arg is halted immediately. It then

returns to a position on the path on which it was running. There, it will

remain in status Motors ON, awaiting a start request.

Probable causes

Triggering of the motion supervision may be caused by a collision,

incorrect load definition or forces in external process.

Recommended actions

1) If possible, acknowledge the fault, and resume operation by pressing

the Start button on the teach pendant.

2) Make sure any loads are defined and identified correctly.

3) If the mechanical unit is exposed to forces from the external

processes, use RAPID command or system parameters to raise the

supervision level.

50205, Data logger error:

Description

arg

Recommended actions

Solution:

arg

50206, Probe warning

Description

Probe buffer is full.

Recommended actions

50207, Add intermediate point

Description

Intermediate point not coordinated to external pos mechanical unit is

necessary when changing conveyor.

Recommended actions

Create an intermediate point then change the conveyor.

50208, Missing function

Description

Friction compensation can not be activated for joint arg.

Recommended actions

Install the option Advanced Shape Tuning.

6 Trouble shooting by Event log

2913HAC020738-001 Revision: K

50209, Kinematic limitation

Description

No acceptable solution found. Residual: arg deg in orientation, arg

mm in x,

arg mm in y, arg mm in z.

Recommended actions

Insert an intermediary point. Check singularity. Increase position and

orient. tolerance. Use MoveAbsJ. Check working range.

50210, Load identification fail

Description

Cannot perform load identification because configuration angle is too

small.

Recommended actions

- Increase configuration angle.

50212, Missing option

Description

General kinematics can not be used without the option 'GKIN'.

Recommended actions

Install the option 'GKIN'.

50214, Work area config failed

Description

Possibly the defined work area is larger than max allowed area for

robot arg.

Recommended actions

Adjust the work area parameters in Robot system parameters and try

again.

50215, Load identification fail

Description

Axis arg will move outside working range.

Recommended actions

Move the axis to a position further from the working range limit.

50218, Path not finished

Description

Task: arg

Previous motion path was not finished before new motion was sent.

Program Ref. arg

Recommended actions

Use StorePath when in Trap routines. Move the program pointer and

start a new movement.

50220, No input signal

Description

No input signal to contactor relay for mechanical unit arg

Recommended actions

Ensure that an input signal is connected and configured.

50221, Object outside limit

Description

Object on conveyor arg is outside max dist or min dist limits. Object

Dropped.

Recommended actions

Check limits or reduce conveyor speed.

50222, Mismatch type - MechUnit

Description

Mismatch between selected manipulator type and selected mechanical

unit.

Recommended actions

Make sure that selected manipulator corresponds to selected

mechanical unit and try again.

50224, Cannot define load

Description

It is not allowed to define a load on axis arg for mechanical unit arg or

the interpolation is not stopped in a finepoint.

Recommended actions

Change axis number, mechanical unit or change the move before to

finepoint.

50225, Old boot safe area lost

Description

Error in boot safe memory area.

- Area updated with new data.

- System unsynchronized.

Recommended actions

Update all revolution counters.

50226, Motor reference error

Description

Calculation time for motor references exceeds internal limits.

Recommended actions

- Reduce load on main computer.

- Restart controller.

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50227, Test signal error

Description

Invalid channel number arg.

Recommended actions

Allowed channel numbers are 1 - 12 for test signals and 1 - 6 for data

log signals.

50228, Test signal error

Description

Unknown test signal number arg.

Recommended actions

Make sure that a valid test signal number is defined.

50229, Test signal error

Description

Unknown mechanical unit arg.

Recommended actions

Check spelling or configuration.

50230, Test signal error

Description

Invalid axis number arg for mechanical unit arg.

Recommended actions

Check mechanical unit and axis number.

50231, Test signal error

Description

Mechanical unit arg not active.

Recommended actions

Activate mechanical unit before defining test signals.

50234, Overflow during logging

Description

An overflow occured when logging test signals or data log signals.

Recommended actions

- Define fewer signals.

- Reduce load on main computer.

- Reduce network load.

50235, No interrupts received

Description

No interrupts received from the robot communication card within

timeout.

Consequences

The system goes to status SYS FAIL.

Probable causes

The robot communication card may be faulty.

Recommended actions

1) Restart the system to resume operation.

2) Replace the robot communication card if faulty.

3) Check any other error log messages coinciding in time with this one

for clues.

50236, Reference underrun

Description

Reference underrun in Main computer interrupt routine for Axis

computer connected to connector board arg.

Recommended actions

- Reduce load on main computer.

- Restart controller.

- Replace Axis computer board.

50237, Reference task error

Description

Reference task queue full (Slot id = arg)

Recommended actions

- Reduce load on main computer.

- Restart controller.

- Replace Axis computer board(s).

50239, Optimal Em. Stop change

Description

Optimal Emergency Stop changed to Electrical brake mode because of

acceleration limitation.

Recommended actions

Limit acceleration in the program.

50240, Optimal Em. Stop change

Description

Optimal Emergency Stop changed to Electrical brake mode because of

torque limitation.

Recommended actions

Check load data.

50241, Missing function

Description

Absolute Accuracy not purchased.

6 Trouble shooting by Event log

2933HAC020738-001 Revision: K

Recommended actions

Change Robot system parameter use_robot_calib to uncalib.

50242, Unsync due to CFG data

Description

- Mismatch between controller and cfg data for joint arg (calibration

offset or calibration position), or

- Valid flags for calibration offset or commutation offset not true in cfg.

Recommended actions

Update measurement system:

- Update revolution counter.

- Recalibrate joint.

- Change cfg data.

50243, No acceleration limit

Description

Acceleration limitation is not implemented for robot arg.

50244, AbsAcc calibration failed

Description

Could not perform an AbsAcc calibration.

Recommended actions

- Restart controller.

- Check that the harddrive isn't full.

- Install more memory.

50245, Command not allowed

Description

Cannot set non motion execution mode when in MOTORS ON state.

Recommended actions

Change to MOTORS OFF.

50246, Linked motor error

Description

Large position offset between follower axis and master axis.

Recommended actions

Start linked motor service program. Jogg the follower axis to same

position as the master axis.

50247, Clear of Path failed

Description

The movement has to be stopped when the path is to be cleared.

Recommended actions

Use StopMove before the ClearPath instruction. Move the program

pointer and start a new movement.

50248, Internal Servo Tool error

Description

Internal error for tool arg in state arg

arg

Recommended actions

Contact ABB.

50249, Programmed force reduced

Description

Programmed tip force too high for tool arg. Requested motor torque

(Nm)= arg. Force was reduced to max motor torque.

Recommended actions

1) Reduce programmed tip force.

2) Check force vs torque calibration in system parameters.

3) Check max motor torque in system parameters.

50250, Calibration force reduced

Description

Requested calibration force too high for tool arg. Requested motor

torque (Nm)= arg. Force was reduced to max motor torque

Recommended actions

1) Check calib forces in sys par.

2) Check force vs torque calibration in system parameters.

3) Check max motor torque in system parameters.

50251, Tool opening failed

Description

An ordered tool axis movement of arg was detected during tool

opening.

Recommended actions

Make sure the tool opening is ready before executing next tool axis

movement. Decrease the system parameter 'post sync time'.

50252, Tool opening failed

Description

An ordered tool axis movement of arg was detected during tool

opening in calibration.

Recommended actions

Make sure no movements of the tool axis are ordered during

calibration.

6 Trouble shooting by Event log

294 3HAC020738-001 Revision: K

50253, Cannot deactivate unit

Description

Deactivation of mechanical unit may not be done while in process

mode.

Recommended actions

Make sure to leave process mode before deactivating mechanical unit.

50254, Linked motor error.

Description

Too large speed for follower axis when follower axis is in jog mode.

Recommended actions

Start linked motor service program. Reset jog mode.

50255, Missing function

Description

Linked motors can't be used without installing appropriate option.

Recommended actions

Install the option 'Electronically linked motors'.

50256, Sync pos warning

Description

Sensor movement outside limits. The sensor start pos should be arg

than arg and found arg.

Recommended actions

Check programmed sensor position in robtarget. Start sync earlier or

change robtarget.

50257, Sync speed warning

Description

Programmed speed outside limits. The speed should be arg than arg

and found arg.

Recommended actions

- Check programmed robot speed

- Check sensor teach pos

- Check sensor nominal speed.

50258, Sensor direction error

Description

Programmed sensor pos speed arg and found sensor speed arg in

opposite direction.

Recommended actions

- Check programmed sensor positions in robtarget.

- Start sync earlier or reduce waitsensor dist .

50259, Sensor max dist error

Description

Distance between sensor position and programmed position too large.

arg

Recommended actions

- Check programmed sensor positions in robtarget.

- Check sensor speed.

- Start sync earlier or reduce waitsensor dist.

50260, Sensor Check dist error

Description

Distance sensor pos to programmed pos arg too large arg.

Recommended actions

- Check programmed sensor positions in robtarget.

- Check sensor speed

- Increase max deviation.

50261, WZone outside work area

Description

The definition of minimum limit for the World Zone arg is outside

work area for: argargarg...

Recommended actions

Change the definition of the World Zone so the limit will be inside

work area or insert 9E9 to remove an axis from test by the WZone.

50262, WZone outside work area

Description

The definition of maximum limit for the World Zone arg is outside

work area for: argargarg...

Recommended actions

Change the definition of the World Zone so the limit will be inside

work area or insert 9E9 to remove an axis from test by the WZone.

50263, Duty factor warning

Description

The duty factor for the gearbox of joint arg of robot arg is too high.

Continued running without adjustment may cause damage to motor

and gearbox. Contact your local ABB service support center.

Recommended actions

Reduce the speed or increase the wait time.

50264, Saved parameters used

Description

Valid calibration data was found after system update and will be used

unless a calib.cfg file is added with RobInstall or in syspar directory.

6 Trouble shooting by Event log

2953HAC020738-001 Revision: K

Recommended actions

If calibration data from file should be used, add a calib.cfg file with

RobInstall or in syspar directory and make a new installation of

system.

50265, Thickness out of reach

Description

Servo Tool: arg Programmed thickness arg mm is out of reach

Recommended actions

- Adjust programmed thickness

- Check working range (min. stroke)

50266, Close request failed

Description

Not allowed to close Servo Tool:arg in reverse direction

Pre close position: arg mm

Programmed thickness: arg mm

Recommended actions

- Adjust pre close position

- Adjust programmed thickness

50267, Open request failed

Description

Not allowed to open Servo Tool:arg in reverse direction

Recommended actions

Check that programmed robtarget positions of the Servo Tool are

larger than programmed thickness.

50268, Calibration failed

Description

Not allowed to calibrate Servo Tool:arg from negative position

Recommended actions

Adjust Servo Tool position before calibration

50269, Tune value out of limit

Description

Tune value for Servo Tool: arg is out of limit. Parameter: arg

Recommended actions

Adjust tune value

50271, Poor event accuracy

Description

Task: arg

The system is presently configured with time event supervision, and

now an event could not be accurately activated.

Program Ref. arg

Recommended actions

Decrease the programmed speed or increase the distance between the

programmed positions. Turn off this check by changing the system

parameters.

50272, Manipulator configuration

Description

Failed to read arg data for arg , from the configuration file.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

Check both configuration data for the current instance and any

instances below in the structure.

50273, Manipulator configuration

Description

Incorrect configuration parameter arg for arg. The configuration

parameter could for instance be an unknown type or a numerical value

that is out of range.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50274, Manipulator configuration

Description

Failed to read or create arg with the name: arg. If the current instance

exists it is read, else it is created. In other words, the instance could not

be read or created.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50275, Manipulator configuration

Description

Failed to read next arg name, previous name is arg. The previous

instance is ok, but the next instance cannot be read.

Check also the configuration error log for more details.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50276, Manipulator configuration

Description

Standard servo queue length (arg) out of range (min=1, max=arg).

6 Trouble shooting by Event log

296 3HAC020738-001 Revision: K

Recommended actions

Check std_servo_queue_length in the configuration file - cold start the

system with correct parameters.

50277, Manipulator configuration

Description

Number of joints (arg) in dynamic group override. Allowed number is

arg.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50278, Manipulator configuration

Description

Failed to configure servo gun (arg).

Recommended actions

Check the servo gun data in the configuration file. Cold start the

system with correct parameters.

50279, Manipulator configuration

Description

Servo tool change requires option Servo Tool Change.

Without this option, installation of this mechanical unit is not allowed.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50280, System configuration

Description

Mechanical Unit arg is defined in more than one Rapid program.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50281, Process failed

Description

Task: arg

A process in the task arg has failed. This is caused by a failure of a

process in this task or a synchronized task if MultiMove is used.

arg

Recommended actions

Check other messages occuring at the same time for the reason.

Recovery: arg

50282, Record not ready

Description

Record not ready to activate

Recommended actions

Make sure that record is finished before activating.

Check sensor_start_signal

50283, Unknown record file name

Description

Record file name: arg is unknown.

Recommended actions

Check file name or existence with file manager.

Record a new file

50284, Cannot activate Mechanical Unit

Description

The Mechanical Unit arg cannot be activated because it is not

connected to a Rapid task.

Recommended actions

Check that the connection between Mechanical Unit and Rapid task is

done correctly in the SYS.cfg.

50285, DitherAct not possible

Description

Dithering is not possible to activate.

Recommended actions

Verify that a joint that can be used with DitherAct is chosen.

50286, Mix of coordinated frames

Description

Task: arg

More than one unit move frames, reasonarg:

1 It is not allowed to have a chain of coordinated frames.

2 It is not allowed to exchange the unit that control the frame in a

cornerzone.

Program Ref. arg

Recommended actions

1 Rearrange the units so that all units, which perform coordinated

movements, are following the same unit.

2 Insert a finepoint or a not coordinated movement between the two

coordinated movements.

6 Trouble shooting by Event log

2973HAC020738-001 Revision: K

50287, Unit out of position

Description

The robot arg is semi coordinated to Unit arg and the Unit must stand

in a finepoint when the Robot is moving in the user_frame.

Recommended actions

Use WaitSyncTask to separate the semi coordinated move from other

moves, SyncMoveOn, SyncMoveResume and SyncMoveOff. After a

SyncMoveOff the Unit must also be moved (MoveL or MoveExtJ) to

a finepoint to make regain possible after a stop during the semi

coordinated move. Keep the program active for the Unit in the task

selection panel to get a regain of the Unit at restart, the reason is that

the Unit can move a little when doing motors off and on.

50288, Sync ID mismatch

Description

The specified id number for the move instruction has to be equal for all

cooperating program tasks.

Current id number mismatch arg, arg.

Recommended actions

Verify that the specified id numbers are equal and that all PP are

synchronized before program start.

50289, Point type mismatch at sync

Description

The move instructions with syncId = arg, have a mix between

finepoints and zonepoints.

Recommended actions

Make sure that the move instruction in all cooperating program tasks

specifies the same kind of point type, either finepoints or zonepoints.

50290, Service unavailable

Description

Unable to obtain correct license.

Recommended actions

Please check the license settings.

50291, Deactivation not allowed

Description

Deactivation of mechanical unit arg is not allowed when task is in

synchronized motion mode.

Probable causes

Instruction DeactUnit is used in a synchronized part of the program.

Recommended actions

- Make sure no DeactUnit instruction is used in a synchronized part of

the program.

- Move the program pointer to main.

50292, Activation not allowed

Description

Activation of mechanical unit arg is not allowed when task is in

synchronized motion mode.

Probable causes

Instruction ActUnit is used in a synchronized part of the program.

Recommended actions

- Make sure no ActUnit instruction is used in a synchronized part of

the program.

- Move the program pointer to main.

50293, Configuration error

Description

The configuration file is erroneous concerning SMB memory storage.

Probable causes

Wrong parameter set up in configuration file. Wrong type of SMB-

board.

Recommended actions

- Make sure that parameter memory_index is defined.

- Use SMB-board with memory functionality.

50294, Transmission error of data

Description

Transmission of data between cabinet and SMB-memory has failed.

Probable causes

Cable, or transmission electronics failed. Electrical interference high.

Recommended actions

- Restart try once more.

- Check cables.

- Check SMB-board.

- Check drive module.

50295, Manipulator data missing

Description

Data in SMB- and cabinet memory missing for mechanical unit arg.

Probable causes

Configuration file missing. New SMB-board together with new

cabinet.

Recommended actions

- Load new configuration files.

50296, SMB memory data difference

Description

Data in SMB memory is not same as in cabinet for mechanical unit arg.

6 Trouble shooting by Event log

298 3HAC020738-001 Revision: K

Probable causes

Not the same data or serial number in SMB memory and cabinet.

Manipulator (SMB module) or cabinet exchanged or configuration

parameters changed.

Recommended actions

Check status via teach pendant and check if right configuration data

(serial number) loaded in cabinet. Check that serial number belongs to

the manipulator connected to the cabinet. If not, replace configuration

files or manually transfer data from SMB memory to cabinet if cabinet

has been exchanged.

If Serial Measurement Board replaced with board from another

manipulator (serial numbers not the same), clear first SMB memory

via teach pendant and then transfer data from cabinet to SMB.

50297, Memory updated in SMB

Description

Data for mechanical unit arg is moved from cabinet to SMB-memory.

Probable causes

Recommended actions

50298, Memory updated in cabinet

Description

Data for mechanical unit arg is moved from SMB-memory to cabinet.

Probable causes

Recommended actions

50299, Speed control warning

Description

Speed for Unit arg is reduced due to limiting Unit arg.

Task: arg Intruction line: arg

Probable causes

Programmed speed too high on this Unit or movement too long on

limiting Unit

Recommended actions

Change path or programmed speed .

Set speed control off

50300, SMB memory not used

Description

SMB-memory is not used for this mechanical unit.

Probable causes

Additional axes can't and should not use the SMB-memory.

Recommended actions

50301, All SMB data missing

Description

All data is missing in SMB-memory at board arg, link arg, drive

module arg.

Probable causes

An error in SMB-memory or communication has occurred. The data

has been cleared.

Recommended actions

If proper data exists in cabinet - transfer the data to SMB-memory. If

still problem - check communication cable to SMB-board. Replace

SMB-board.

50302, Sensor data missing

Description

No serial number is defined for mechanical unit arg in SMB-memory.

Probable causes

The SMB-memory has been cleared or new SMB-board has been

installed.

Recommended actions

If proper data exists in cabinet - transfer the data to SMB-memory.

50303, Cabinet data missing

Description

No serial number is defined for mechanical unit arg in cabinet.

Probable causes

The cabinet memory has been cleared or new cabinet has been

installed..

Recommended actions

If proper data exists in SMB-memory - transfer the data to cabinet

memory.

50304, Transfer of data not allowed

Description

The SMB-memory for mechanical unit arg has another serial number,

than used in the cabinet.

Probable causes

A SMB-board from another robot has been installed in the used robot.

Recommended actions

Clear first the data in SMB-memory via calibration/SMB-memory/

advanced/. Then repeat the transfer command once again.

6 Trouble shooting by Event log

2993HAC020738-001 Revision: K

50305, Old SMB board used

Description

Old SMB board used without data memory.

Probable causes

Recommended actions

Replace board with a new with data memory or set parameter "Use old

SMB" in configuration MOTION/ROBOT.

50306, Load identification error

Description

Cannot perfom load identification because configuration angle makes

inertia matrix singular.

Recommended actions

- Move axis 6 on the robot about 30 degrees in any direction.

50307, Extended working range

Description

The option Extended working range has been installed.

Make sure that the mechanical stop has been removed.

50308, In Position timeout

Description

Condition for finepoint not fulfilled within arg seconds.

Recommended actions

Check tuning of additional axes, In Position Conditions (In Position

Range, Zero Speed) and check if disturbance of resolver cables.

50309, AbsAcc error

Description

Data moved from SMB-memory to cabinet. AbsAcc data not valid in

SMB-memory. AbsAcc cleared in cabinet for mechanical unit arg.

Recommended actions

Load new AbsAcc data if data available.

50310, Independent joint not active

Description

Mechanical unit arg with independent joint is not active.

Recommended actions

Activate the mechanical unit before executing the independent joint

instruction.

50311, Cannot activate Mechanical Unit in task

Description

The Mechanical Unit arg cannot be activated in specified task.

Recommended actions

Check the connection between Mechanical Unit and Rapid task in the

SYS.cfg.

50312, Mechanical Unit already active in other

task

Description

Cannot activate Mechanical Unit arg, since it is already active in

another Rapid task.

50313, Independet move reset failed

Description

Independent reset movement failed for arg, a synchronized movement

(MoveL/MoveJ) of the servo tool occured during the the independent

reset movement.

Recommended actions

Make sure the synchronized speed of the servo tool is zero during

execution of independent reset movements.

50314, Independent move outside reach

Description

Programmed independent move position for argis outside reach.

Programmed position = arg mm.

Recommended actions

Adjust independent move position.

Check working range of the servo tool.

50315, Corner path failure

Description

Task: arg

Interpolation and process stopped before the corner path due to some

of the following reasons:

- Time delay.

- Closely programmed points.

- System requires high CPU-load.

arg

Recommended actions

- Reduce the number of instructions between consecutive move

instructions.

- Reduce speed, use wider spaced points, use /CONC option.

- Increase ipol_prefetch_time.

Recovery: arg

6 Trouble shooting by Event log

300 3HAC020738-001 Revision: K

50316, Absolute accuracy not activated

Description

Absolute accuracy function not activated.

Consequences

Robot positioning will not be absolute accurate.

Recommended actions

Make sure absacc.cfg is loaded into controller memory and switch

AbsAcc on. Verfiy status in jogging window.

50317, Disconnecting the Drive Module not

allowed

Description

An attempt was made to disconnect drive module arg, which is not

allowed.

Consequences

The system goes to state Motors OFF, and then disconnects the Drive

Module.

Probable causes

Disconnecting drive modules is only allowed in the Motors OFF state.

Recommended actions

Make sure that the system is in Motors OFF state before disconnecting

the Drive Module.

50318, Reconnecting the Drive Module not

allowed

Description

Drive Module should not be reconnected since the system is not in the

state Motors OFF.

Consequences

An attempt was made to reconnect drive module arg, which is not

allowed.

Probable causes

Reconnecting drive modules is only allowed in the Motors OFF status.

Recommended actions

Make sure that the system is in Motors OFF state before reconnecting

the Drive Module.

50319, Cannot activate Mechanical Unit

Description

An attempt was made to activate mechanical unit arg, which failed.

Consequences

The mechanical unit remains deactivated.

Probable causes

The mechanical unit is connected to Drive Module arg which is

disconnected.

Recommended actions

1) Reconnect the Drive Module. 2) Retry to activate the Mechanical

Unit.

50320, Drive Module has been disconnected

Description

Drive Module arg has been disconnected.

Consequences

No mechanical units connected to the drive module may be operated.

50321, Drive Module has been reconnected

Description

Drive Module arg has been reconnected after being disconnected.

Consequences

All mechanical units connected to drive module arg may be operated.

50322, Mechanical Unit not connected to

motion task

Description

Cannot activate Mechanical Unit arg, since it is not connected to any

motion task.

Recommended actions

Check the connection between Mechanical Unit and Rapid task in the

SYS.cfg.

50323, Failed to read force sensor

Description

Failed to return calibrated force sensor reading.

Probable causes

Force control system not calibrated.

Recommended actions

Use the instruction FCCalib before using this instruction.

50324, Force control calibration failed

Description

Failed to calibrate the force control system.

Probable causes

The system is not in position control.

Recommended actions

Make sure the robot is in position control mode before using the

FCCalib instruction.

6 Trouble shooting by Event log

3013HAC020738-001 Revision: K

50325, Failed to activate force control

Description

Activation of force control failed.

Probable causes

The system is either not calibrated or we are already in force control.

Another reason for this could be incorrect arguments.

Recommended actions

Only use the FCAct or FCPress1LStart instruction when the force

control system is calibrated and we are in position control. Check all

arguments to the activation instruction.

50326, Failed to deactivate force control

Description

Failed to return to position control.

Probable causes

Can not set position control if the robot is moving due to external

forces or ordered references.

Recommended actions

Stop any active references and remove any external forces and try

again.

50327, Failed to start references

Description

Failed to start the user specified references

Probable causes

Only allowed to start references when in force control.

Recommended actions

Must activate force control before trying to start references.

50328, Parameter error in FCRefSprForce or

FCRefSprTorque

Description

Error in parameter Stiffness in instruction FCRefSprForce or

FCRefSprTorque.

Recommended actions

Change the parameter Stiffness in instruction FCRefSprForce or

FCRefSprTorque to a value larger than zero.

50329, Parameter error in FCRefSprForce

Description

Error in parameter MaxForce in instruction FCRefSprForce.

Recommended actions

Change the parameter MaxForce in instruction FCRefSprForce to a

value larger than zero.

50330, Parameter error in FCRefSprTorque

Description

Error in parameter MaxTorque in instruction FCRefSprTorque.

Recommended actions

Change the parameter MaxTorque in instruction FCRefSprTorque to a

value larger than zero.

50331, Parameter error in FCRefForce

Description

Error in parameter Amp in instruction FCRefForce.

Recommended actions

Change the parameter Amp in instruction FCRefForce to a value larger

than zero.

50332, Parameter error in FCRefTorque

Description

Error in parameter Amp in instruction FCRefTorque.

Recommended actions

Change the parameter Amp in instruction FCRefTorque to a value

larger than zero.

50333, Error FCRefLine, FCRefRot or

FCRefCircle

Description

The parameter Distance in instruction FCRefLine or instruction

FCRefRot and the paraneters Radius and Speed in instruction

FCRefCircle have to be larger than zero.

Recommended actions

Change the parameters above according to the manual.

50334, Parameter error in FCRefLine

Description

Not allowed parameter value used in function FCRefLine.

Probable causes

Error in parameter values of function FCRefLine.

Recommended actions

Modify the parameter values in function FCRefLine.

50335, Parameter error in FCRefSpiral

Description

Not allowed parameter value used in function FCRefSpiral.

Probable causes

Error in parameter values of function FCRefSpiral.

6 Trouble shooting by Event log

302 3HAC020738-001 Revision: K

Recommended actions

Modify the parameter values in function FCRefSpiral.

50336, Parameter error in FCGetProcessData

Description

Failed to retrieve process information.

Probable causes

Using the optional parameter DataAtTrigTime in instruction

FCGetProcessData. If no trig has occured this error is reported.

Recommended actions

Remove the optional parameter.

50337, Force sensor not setup

Description

Error in the force sensor parameters.

Recommended actions

Check the force sensor configuration parameters.

50338, Parameter error in FCCondAdvanced

Description

Error in parameter LogicCond in instruction FCCondAdvanced.

Recommended actions

Modify the parameter LogicCond in instruction FCCondAdvanced.

50339, Parameter error in FCCondTime

Description

Error in parameter Time in instruction FCCondTime.

Recommended actions

Change the parameter Time in instruction FCCondTime to a value

larger than zero.

50340, Error in force control box definition

Description

An error in the parameter Box in either FCCondPos or FCSupvPos.

Recommended actions

Change the parameter Box in either FCCondPos or FCSupvPos.

50341, Error in force control cylinder definition

Description

An error in the parameter Cylinder in either FCCondPos or

FCSupvPos.

Recommended actions

Change the parameter Cylinder in either FCCondPos or FCSupvPos.

50342, Error in force control sphere definition

Description

An error in the parameter Sphere in either FCCondPos or FCSupvPos.

Recommended actions

Change the parameter Sphere in either FCCondPos or FCSupvPos.

50343, Error in force control cone definition

Description

An error in the parameters for either FCCondOrient or FCSupvOrient.

Recommended actions

Change the parameters in either FCCondOrient or FCSupvOrient.

50344, Joints outside limits in force control

Description

One or more joints are outside their working range in force control.

Recommended actions

Modify the program to avoid the physical joint limits.

50345, Force control supervision error

Description

The user specified supervision has trigged. The type is arg.

Types:

1: TCP position

2: Tool Orientation

3: TCP speed

4: Reorientation speed

5: Force

6: Torque

7: Teach TCP Speed

8: Teach Reorientation Speed

Consequences

The robot will stop.

Recommended actions

Modify the supervision or the program.

50346, Motor temperature error

Description

Motor temperature for joint arg is too high.

Consequences

It is not possible to continue until the motor has cooled down.

6 Trouble shooting by Event log

3033HAC020738-001 Revision: K

50347, Progam pointer moved in Force Control

mode

Description

Program pointer has been moved in Force Control mode.

Consequences

Robot is stopped and the mode is changed from Force Control mode to

normal mode.

If Force Contol mode is desired the program pointer must be moved to

the FCAct instruction.

50348, Test signal error

Description

Definition of a test signal failed for arg, axis arg on channel arg.

Probable causes

The Mechanical Unit is not active.

The test signal number does not correspond to an actual test signal.

The channel number is too high.

50349, Synchronization ID Warning

Description

Two consecutive synchronized move instructions in arg have the same

syncronization ID value arg.

Consequences

If the ID value is repeated for more than one move instruction it can be

very difficult to keep track of which move instructions are

synchronized. This can, for example, cause problems when modifying

positions.

Recommended actions

Change the synchronized move instruction arg in arg so that it has a

unique synchronization ID value.

50350, Software Equalizing Not Allowed

Description

It is not possible to run Software Equalizing since Independent Move

is active.

Recommended actions

Make sure independent move is not active when executing a Software

Equalizing servo spot.

50351, Independent Move not allowed

Description

It is not possible to execute an Independent Move when Software

Equalizing is active.

Recommended actions

Make sure Software Equalizing is off when executing an Independent

Gun Move.

50352, Number of move instruction mismatch

Description

Using the path recorder within syncronised motion requires:

That Tool offset must be present for all or none cooperating program

tasks.

That all cooperating program tasks move backwards/forwards the

same number of move instructions.

Recommended actions

Verify that the all tasks or none of the tasks use the optional argument

Tool Offset.

Verify that the pathrec identifier moving towards are at the same

position in all tasks within the syncronised block.

50353, Failed to read data from encoder card

Description

The system has failed to read data from one encoder card.

Consequences

The tracking accuracy during acceleration and deceleration might be

reduced.

Probable causes

Wrong unit name has probably been specified in the process parameter

for

arg

Recommended actions

1) Check that the correct unit name is specified in the process

parameter

eio unit name for arg

50354, Ordered force reference is too large

Description

The ordered force reference is larger than the configured maximum

value.

Consequences

The ordered force reference has been reduced to the configured value.

Recommended actions

To allow a larger reference force the system parameters need to be

updated. Note that there is an absolute limit of force reference size that

depends on the robot type.

50355, Ordered torque reference is too large

Description

The ordered torque reference is larger than the configured maximum

value.

Consequences

The ordered torque has been reduced to the configured maximum

value.

6 Trouble shooting by Event log

304 3HAC020738-001 Revision: K

Recommended actions

To allow a larger reference torque the system parameters need to be

updated.

50356, Ordered MaxForce is too large

Description

The parameter MaxForce in instruction FCRefSprForce is larger than

the configured maximum value.

Consequences

The parameter MaxForce has been reduced to the configured

maximum value.

Recommended actions

To allow a larger value the system parameters need to be updated.

50357, Ordered MaxTorque is too large

Description

The parameter MaxTorque in instruction FCRefSprTorque is larger

than the configured maximum value.

Consequences

The parameter MaxTorque has been reduced to the configured

maximum value.

Recommended actions

To allow a larger value the system parameters need to be updated.

50358, Close to singularity when in force

control

Description

Close to singularity when in force control mode for robot arg.

Recommended actions

Modify path away from the singularity or change to joint interpolation.

50359, Path Recorder on StorePath level not

allowed

Description

The Path Recorder can only be used on base path level. The Path

Recorder has been stopped.

Recommended actions

Stop Path Recorder before StorePath, restart it after RestoPath.

50361, Brake release error

Description

Too large position error of joint arg after brake release.

Recommended actions

Try once more. Check cables. Check hardware. Check tuning if error

on additional axis.

50362, Brake release time out

Description

Joint arg was not in position after max time for brake release.

Recommended actions

Try once more. Check cables. Check hardware. Check tuning if error

on additional axis.

50363, SyncMoveOn failed

Description

Starting synchronized movements failed due to an internal error.

Consequences

It is not possible to restart the programs from the current position.

Recommended actions

Move the program pointers and try again.

50364, Axis in current vector mode

Description

Warning: Joint arg is configed in arg data as a current vector axis.

Drive system will be disconnected for this axis during normal

operation.

Recommended actions

Run service program to activate the current vector.

Set configuration data for the DRIVE SYSTEM parameter

current_vector_on to FALSE, for normal operation..

50365, Cyclic Brake Check Warning

Description

Cyclic Brake Check has failed

Consequences

Cyclic Brake Check has detected that robot arg may have reduced

brake perfomance on axis arg.

Recommended actions

Repeat the test to verify the result.

50366, Reference Error

Description

An error has occurred in the reference calculation. Internal status arg.

Consequences

The controller goes to Motors Off

Recommended actions

Check the error logs for previous errors that could be causing this

problem.

Try to restart the program possibly after moving the program pointer.

Restart the controller.

6 Trouble shooting by Event log

3053HAC020738-001 Revision: K

50367, Sensor Sync machine stop

Description

Sensor Sync device arg has set machine stop signal arg.

Recommended actions

Do not restart robot before machine is open. Sensor sync is disabled.

50368, Too Short distance between equidistant

events

Description

The events are too close together. End of internal resources (events).

Task: arg

Program Ref. arg

Recommended actions

Increase the distance between equidistant events or use intermediate

positions to decrease segment length.

50369, Calibration using stored offset failed

Description

Failed to calibrate the sensor using stored offset.

Consequences

The force control system is not calibrated. It is not possible to activate

force control.

Probable causes

Calibration using stored offset is only possible if a normal calibration

has been performed earlier.

50370, Transfer of data to SMB memory failed

Description

Transfer of data from cabinet to SMB memory not allowed or

interrupted for mechanical unit arg due to disconnect of SMB.

Probable causes

SMB was disconnected before or during calibration or manual move

of data to SMB memory.

Recommended actions

Retry to calibrate or manually move data from cabinet to SMB

memory when SMB is reconnected.

50371, The programmed speed is too high

Description

The speed change functionality is only allowed for low programmed

speed.

Probable causes

The programmed speed is too high.

Recommended actions

Lower the programmed speed or modify the configuration parameters.

50372, Contact force too high

Description

The contact force is too high during the recover phase.

Probable causes

The programmed path in the recover function causes too high contact

forces.

Recommended actions

Check and modify the recover function or allow higher contact force.

50373, Too high Event Preset Time

Description

The configured Event Preset Time is too high. The maximum value is

arg.

Consequences

The Event Preset Time is reduced to the maximum value.

Probable causes

This error can occur for robots with a low Dynamic Resolution and a

high Event Preset Time. The reason is a computer memory limitation.

Recommended actions

Reduce the Event Preset Time in the configuration parameters to a

value no higher than arg.

50375, Dynamic load too high

Description

Required torque for robot arg axis arg too high.

Recommended actions

If weaving one of these actions may help:

- Reduce weave frequency or weave amplitude for this movement.

- Reduce process speed.

- Increase zone size if small zones are used.

- Increase distance between programmed points if they are close.

If Conveyor Tracking: Reduce conveyor speed.

50376, Geometric interpolation failed.

Description

Task. arg

Failed to interpolate the desired geometry.

Program Ref. arg

(Internal code: arg)

Recommended actions

Increase the zone size, move the programmed point, change tool

orientation or change interpolation method.

6 Trouble shooting by Event log

306 3HAC020738-001 Revision: K

50377, Only allowed in position control

Description

The instruction is only allowed when the robot is in position control

mode.

Probable causes

The error depends on calling an instruction that is only allowed to be

used in position control while in force control mode.

Recommended actions

Call the instruction only when the robot is in position control mode.

50378, Error in FCSetMaxForceChangeTune

Description

Incorrect value of the parameter ForceChange in instruction

FCSetMaxForceChangeTune.

Consequences

The program will stop.

Probable causes

The parameter must be set larger than zero and less than the configured

value.

Recommended actions

Change the parameter value.

50379, Active mechanical units have changed

Description

When calling RestoPath all mechanical units have to be in the same

active state as when StorePath was called.

Recommended actions

Make sure that all mechanical units that were active when calling

StorePath still are and that no other mechanical unit is active when

calling RestoPath.

50380, Checksum error

Description

Data in SMB memory for mechanical unit arg has erroneous

checksum.

Probable causes

New SMB-board. System shut down before data save finished.

Recommended actions

- Load new configuration files.

50381, Speed too low.

Description

Task. arg

The speed is too low (numerical resolution).

Program Ref. arg

Recommended actions

Increase the programmed speed.

Check also the other synchronized tasks in a multimove application.

50382, Weave pattern error

Description

Calculation of weave pattern has failed due to an internal error.

Recommended actions

Try to restart.

50383, Cartesian Soft Servo configuration error

Description

Some configuration parameter for Cartesian Soft Servo is not valid.

Consequences

The system will not start.

Probable causes

Some configuration parameter has been set to a

value that is not allowed.

Recommended actions

Verify that any modifed parameter are within allowed limits.

50384, Cartesian Soft Servo quaternions invalid

Description

The quaternions of the tool, workobject or the argument RefOrient in

the CSSAct instruction are invalid.

Consequences

Cartesian Soft Servo will not activate.

Recommended actions

Check the quaternions of the tool, workobject or the argument

RefOrient in the CSSAct instruction.

50385, Cartesian Soft Servo activation failed

Description

The instruction CSSAct failed.

Probable causes

Cartesian Soft Servo already active.

Recommended actions

Cartesian Soft Servo needs to be deativated before it can be activated.

50386, Cartesian Soft Servo offset activation

failed

Description

The instruction CSSForceOffsetAct failed.

6 Trouble shooting by Event log

3073HAC020738-001 Revision: K

Consequences

Force offset was not activated.

Probable causes

CSSForceOffsetAct instruction is only allowed when Cartesian Soft

Servo is active.

Recommended actions

Activate Cartesian Soft Servo with the instruction CSSAct before

using the instruction CSSForceOffsetAct .

50387, Cartesian Soft Servo close to unstable

Description

Cartesian Soft Servo is close to unstable.

Consequences

The robot is halted as a security measure.

Probable causes

The system damping is too low.

Recommended actions

Increase the value of Damping in the CSSAct instruction or if that does

not help increase the value of the configuration parameter Damping

Stability Limit.

50388, Cartesian Soft Servo position

supervision error

Description

The user defined position supervision in Cartesian Soft Servo mode

trigged.

Consequences

The robot halts.

Probable causes

The position error is larger than the allowed range specified in the

configuration.

Recommended actions

Increase the allowed position error in the configuration or modify the

program.

50389, Cartesian Soft Servo singularity

Description

The robot is too close to singularity which effects the Cartesian Soft

Servo behaviour.

Consequences

The robot behaviour will be different from specified.

Recommended actions

Modify the program to avoid the singularity.

50390, Cartesian Soft Servo speed supervision

Description

The user defined speed supervision in Cartesian Soft Servo mode

trigged.

Consequences

The robot halts.

Probable causes

The speed error is larger than the allowed range specified in the

configuration.

Recommended actions

Increase the allowed speed error in the configuration or modify the

program.

50391, Cartesian Soft Servo movement not

allowed

Description

Jogging or a programmed movement has been detected.

Consequences

The ordered movement is ignored.

Recommended actions

Movement during Cartesian Soft Servo is only allowed if the switch

AllowMove has been used in the CSSAct instruction.

50392, SafeMove communication error

Description

Communication with SafeMove controller on drive module arg has

failed.

Consequences

Brake tests can not be done.

Recommended actions

Check if SafeMove hardware is connected.

50393, Force offset applied in non-soft direction

Description

The force-offset direction in CSSForceOffsetAct is not the same as the

soft direction specified by CSSAct.

Consequences

The robot will not become easier to push in the soft direction. There

can also be position deviations from the programmed path in the non-

soft directions.

Recommended actions

Make sure the direction given in CSSForceOffsetAct is compatible

with the direction given in CSSAct.

6 Trouble shooting by Event log

308 3HAC020738-001 Revision: K

50394, Unit out of position

Description

The Robot arg is semi coordinated to Unit arg and the Unit must stand

in a fine point when the Robot is moving in the user frame.

Consequences

The restart will be interrupted.

Recommended actions

Use WaitSyncTask to separate the semi coordinated move from other

moves, SyncMoveOn, SyncMoveResume and SyncMoveOff. After a

SyncMoveOff the Unit must also be moved (MoveL or MoveExtJ) to

a finepoint to make regain possible after a stop during the semi

coordinated move. If the programmed position of the Unit is moved by

modpos the Robot program must be reset by moving the PP to be able

to restart the program. Step also the unit to the new position to make

stepping of the robot possible.

50395, Too long programmed move

Description

Task: arg

This move is too long for the programmed speed. The numerical

resolution in the path planning is not enough.

Program Ref. arg

Consequences

The speed will be increased i.e. higher than the programmed speed.

Recommended actions

Insert intermediate points or increase the speed.

50396, Default FC force supervision error

Description

The default force supervision has trigged because the programmed or

measured external forces are larger than the safety limit for the robot

type.

Consequences

The robot will stop.

Recommended actions

Modify the program to decrease the total external force acting on the

robot.

50397, Path frame rotation speed error

Description

The rotation speed of the path frame is too high when using FC

Machining with ForceFrameRef set to FC_REFFRAME_PATH.

Consequences

The robot will stop.

Recommended actions

Reduce programmed speed, increase corner zones, or decrease the

distance between the programmed path and the surface.

50398, AbsAcc circle begins with a frame

change

Description

Task: arg

When having the AbsAcc option, MoveC instructions that are

coordinated to another robot must use the same tool and work object

as the previous move instruction.

Consequences

The robot will stop.

Recommended actions

Change the move instruction before arg so that they both use the same

frames. Alternatively, add a (redundant) MoveL to the start point of the

circle arc, using the same frames as the MoveC instruction.

50399, AbsAcc circle is first movement

instruction

Description

Task: arg

When having the AbsAcc option, MoveC cannot be the first

movement instruction.

Consequences

The robot will stop.

Recommended actions

Add a movement instruction before arg, using the same tool and

frames.

50400, Manipulator configuration error

Description

The parameter disconnect_link_at_deactivate for

MEASUREMENT_CHANNEL was inconsistent for

measurement_link arg. All channels on the same link have to have the

same setting for this parameter.

Recommended actions

Check the configuration file - cold start the system with correct

parameters.

50401, Startup synchronization failed

Description

The system relay 'arg' is defined but no response was received during

the startup(waited for arg minutes).

Recommended actions

Make sure that the in_signal of the relay is configured and connected

and startup all synchronized systems simultaneously.

6 Trouble shooting by Event log

3093HAC020738-001 Revision: K

50402, Correction is not ended in a finepoint

Description

Task: arg

The last move instruction with correction specified has to be a

finepoint.

Program Ref. arg

Recommended actions

Change the zone parameter to fine.

50403, AW board not connected

Description

During startup, no communication was established with unit <arg> on

bus <arg>.

Consequences

It is not possible to access the unit or signals on the unit, since it is

currently not communicating with the controller.

Probable causes

The unit is either not connected to the system, or it is connected, but

has been assigned the wrong address.

Recommended actions

1. Make sure all unit addresses match the configuration.

2. Make sure all addresses are unique, and not used by more than one

unit.

3. Change the address and/or connect the missing unit.

4. If you changed the address, the power supply to the unit must be

cycled (switched OFF and then back ON), to make sure the address has

been changed.

50404, Additional axis movement during Wrist

Interpolation

Description

Task: arg

Program Ref. arg

An additional axis is programmed to move during Wrist Interpolation.

Consequences

The task execution will stop.

Recommended actions

Make sure that no additional axis is programmed to move while doing

Wrist Interpolation.

50405, Coordinated movement during Wrist

Interpolation

Description

Task: arg

Program Ref. arg

Attempt to do Wrist Interpolation against a moving frame.

Consequences

The task execution will stop.

Recommended actions

Remove movement coordination while doing the Wrist Interpolation.

50406, Wrist Interpolation point not on circle

plane

Description

Task: arg

Program Ref. arg

The target arg is not on the circle plane. The deviation is arg mm.

p1 = starting point

p2 = circle point

p3 = end point

Consequences

For a cutting process, the cut hole will not be circular.

Recommended actions

If a circular arc is intended, then change the corresponding target so

that it is on the circle plane.

50407, Wrist axis locked

Description

Task: arg

Program Ref. arg

Cannot do Wrist Interpolation using arg because axis arg is locked.

Consequences

The task execution will stop.

Recommended actions

Change to another wrist axis combination that does not involve the

locked axis. Note that the robot must have at least two movable wrist

axes to do Wrist Interpolation.

50408, Wrist joint limit

Description

Task: arg

Program Ref. arg

Cannot do Wrist Interpolation because robot axis arg will violate a

joint limit.

Consequences

The task execution will stop.

Recommended actions

Choose another robot configuration or another wrist axis combination.

6 Trouble shooting by Event log

310 3HAC020738-001 Revision: K

50409, Wrist Interpolation not possible

Description

Task: arg

Program Ref. arg

The programmed Wrist Interpolation is not kinematically possible

using arg.

Consequences

The task execution will stop.

Recommended actions

Choose another robot configuration or another wrist axis combination.

Possible wrist axis combinations are: Wrist45, Wrist46, and Wrist56.

50410, Collinear targets in wrong order

Description

Task: arg

Program Ref. arg

The programmed targets are collinear, but the end point is between the

start point and the circle point.

Consequences

The task execution will stop.

Recommended actions

If a straight line is intended, then let the circle point and the end point

swap places with each other.

50411, Maximum allowed programmed TCP

load exceeded

Description

The currently defined TCP load for robot arg exceeds the maximum

allowed load for the robot model.

Consequences

The robot will stop.

Probable causes

The combination of the current tool load and payload exceeds the

maximum load allowed for the robot model.

Recommended actions

Make sure that the total TCP load is inside the load diagram for the

robot.

50412, Error in speed change tuning instruction

Description

The speed change tuning instruction resulted in an error.

Consequences

The robot will stop.

Probable causes

The speed change tuning instruction was not allowed, or the

parameters given were invalid.

Recommended actions

Check the values for the parameter and tuning type, and make sure the

correct force control option is installed and configured correctly.

50413, Bleeder resistor overload error

Description

In drive module arg, the bleeder resistor connected to the rectifier

unit at drive unit position arg was overloaded.

Consequences

No operation will be possible until the bleeder resistor has cooled

down. The system goes to Motors Off state.

Probable causes

1) The user program may contain too much deceleration of the

manipulator's axes. This fault is more likely if the system contains

additional axes.

2) Bleeder resistor has wrong resistance.

3) Short circuit in motor cable between phase to phase or phase to

ground.

Recommended actions

1) Rewrite the user program to reduce the amount of hard

decelerations.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Verify that the motor cables has no short circuits internally or to

ground.

50414, Bleeder resistor overload warning

Description

In drive module arg, the bleeder resistor connected to the rectifier

unit at drive unit position arg is close to overload.

Consequences

Operation will be possible but system is close to a stopping error.

Probable causes

1) The user program may contain too much deceleration of the

manipulator's axes. This fault is more likely if the system contains

additional axes.

2) Bleeder resistor has wrong resistance.

3) Short circuit in motor cable between phase to phase or phase to

ground.

Recommended actions

1) Rewrite the user program to reduce the amount of hard

decelerations.

2) Disconnect the bleeder and check the cable and measure the bleeder

resistance. The expected resistance should be approximately arg ohms.

3) Verify that the motor cables has no short circuits internally or to

ground.

6 Trouble shooting by Event log

3113HAC020738-001 Revision: K

50415, Motor temperature error

Description

Motor temperature for joint arg is too high.

Consequences

It is not possible to continue until the motor has cooled down. The

system goes to Motors Off state.

Probable causes

The user program may contain too much hard acceleration and

deceleration of the joint. Gravity torque or external forces for the joint

can also be too high.

Recommended actions

Rewrite the user program to reduce the motor utilization.

50416, Motor temperature warning

Description

The motor temperature for joint arg is close to maximum value.

Consequences

It is possible to continue but the margin to maximum allowed

temperature is too low to sustain long term operation.

Probable causes

The user program may contain too much hard acceleration and hard

deceleration of the joint. The gravity torque or external forces for the

joint can also be too high.

Recommended actions

Rewrite the user program to reduce the motor utilization.

50417, Drive unit overload error

Description

The drive unit for joint arg has reached a too high temperature level.

The joint is connected to drive module arg with the drive unit at unit

position arg and node arg.

Consequences

No operation will be possible until the drive has cooled down. The

system goes to Motors Off state.

Probable causes

1) The joint may be running with a too high torque for extended

periods of time.

2) Short circuit in the manipulator using long motor cables.

Recommended actions

1) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

2) Reduce the static torque due to gravity or external forces.

3) Check for short circuit in the motor cable or in the motor.

4) Check for other hardware eventlogs.

50418, Drive unit overload warning

Description

The drive unit for joint arg, connected to drive module arg with the

drive unit at unit position arg and node arg is approaching a too high

temperature level.

Consequences

It is possible to continue but margin to max temperature is too low for

long term operation.

Probable causes

1) The joint may be running with a too high torque for extended

periods of time.

2) Short circuit in the manipulator using long motor cables.

Recommended actions

1) If possible, rewrite the user program to reduce the amount of hard

acceleration and hard deceleration.

2) Reduce the static torque due to gravity or external forces.

3) Check for short circuit in the motor cable or in the motor.

4) Check for other hardware eventlogs.

50419, Common base_frame error

Description

Task: arg

The base_frame is moved by another task than the robot and could not

be solved, reasonarg:

1 SingArea\Wrist not supported with MoveC.

2 The base_frame must be moved by first synchronized motion_group.

3 Only one common base_frame can be handled.

4 Absacc not supported with MoveC.

5 The common base_frame can only be solved in synchronized move.

Program Ref. arg

Recommended actions

1 Use SingArea\Off. The CirPathMode can also be used.

2,3 Check SYS.cfg and MOC.cfg.

4 Use MoveL or remove absacc.

5 Use MoveAbsJ.

50420, IndCnv Mechanical Unit Error

Description

The mechanical unit arg is not correctly configured for IndCnv

functionality.

Consequences

Program execution is stopped.

Probable causes

The mechanical unit arg consists of more than one single.

The single connected to arg is not of type FREE_ROT.

The single connected to arg is not defined as an Indexing Move single.

6 Trouble shooting by Event log

312 3HAC020738-001 Revision: K

Recommended actions

Make sure mechanical unit arg consists of only one single.

Make sure configuration parameter Motion/Single Type/Mechanics is

of type FREE_ROT.

Make sure configuration parameter Motion/Single Type/Indexing

Move is TRUE.

50421, IndCnv Tracking Single Error

Description

The single arg is not configured as an Indexing Move single

Consequences

Program execution is stopped.

Recommended actions

Make sure configuration parameter Process/Can Interface/Single To

Track refers to a single with Motion/Single Type/Indexing Move set to

TRUE.

50422, IndCnv and Independent joint error

Description

Independent joint instructions are not allowed when single arg is in

indexing mode.

Consequences

Program execution is stopped.

Recommended actions

Execute the RAPID instruction IndCnvReset before using the axis as

an independent joint.

50423, IndCnv Time before indexing move too

low

Description

The time between trig signal and start of indexing movement is

configured too low.

Consequences

The program execution is stopped.

Recommended actions

Increase system parameter "Motion/Single Type/Time before indexing

move" to at least arg (ms).

Remove or decrease robot acceleration limitations if possible.

Please consult the Conveyor Tracking application manual for further

actions.

50424, IndCnv Robot type not supported

Description

The IndCnv functionality does not support the installed robot type.

Consequences

The program execution is stopped.

50425, Friction FFW parameter is not On

Description

Tuning friction parameters requires Friction FFW On to be set to True.

Consequences

Friction tuning for joint arg will have no effect.

Recommended actions

Set parameter Friction FFW On to True for joint arg in the type arg that

belongs to the topic Motion.

50426, Out of interpolation objects

Description

The maximum number of available interpolation objects has been

reached. This can occur if the dynamic performance is set to a very low

value e.g. by use of the AccSet command.

Consequences

The program execution is stopped and the system goes to motors off.

Recommended actions

Increase the number of objects by adding 'extended_dec_dist 1' in cfg

instance MOTION_PLANNER.

Description

71001, Duplicated address

Description

The I/O configuration is invalid.

The same addresses have been given for I/O unit <arg> and I/O unit

<arg>.

I/O units connected to the same I/O bus must have unique addresses.

This I/O unit has been rejected.

Recommended actions

1. Check that addresses are correct.

2. Check that the I/O units are connected to the correct I/O bus.

71002, Unit type undefined

Description

The I/O configuration for I/O unit <arg> is invalid.

Consequences

This unit type has been rejected, and no functions depending on this

unit type will work.

Probable causes

The unit type <arg> is unknown. All I/O units must refer to an existing,

defined unit type.

6 Trouble shooting by Event log

3133HAC020738-001 Revision: K

Recommended actions

1. Make sure the unit type is defined.

2. Make sure the unit type is correctly spelt.

71003, I/O unit undefined

Description

The I/O configuration for I/O signal <arg> is invalid.

Consequences

This I/O signal has been rejected, and no functions depending on it will

work.

Probable causes

The I/O unit <arg> is unknown. All I/O signals must refer to an

existing/defined I/O unit.

Recommended actions

1. Make sure the I/O unit is defined.

2. Make sure the I/O unit name is correctly spelt.

71005, Invalid filter time

Description

The I/O configuration for I/O signal <arg> is invalid.

The passive filter time should either be 0 ms or in the range [arg, arg]

ms.

This I/O signal has been rejected.

Recommended actions

Correct the passive filter time for the I/O signal.

71006, Invalid filter time

Description

The I/O configuration for I/O signal <arg> is invalid.

The active filter time should either be 0 ms or in the range [arg, arg]

ms.

This I/O signal has been rejected.

Recommended actions

Correct the active filter time for the I/O signal.

71007, Logical values out of range

Description

The I/O configuration for I/O signal <arg> is invalid.

The logical minimum value must be less than the logical maximum

value.

This I/O signal has been rejected.

Recommended actions

Correct the logical values for the I/O signal so that the minimum value

becomes less than the maximum value.

71008, Physical values out of range

Description

The I/O configuration for I/O signal <arg> is invalid.

The physical minimum value must be less than the physical maximum

value.

This I/O signal has been rejected.

Recommended actions

Correct the physical values for the I/O signal so that the minimum

value becomes less than the maximum value.

71017, Cross connection without actor I/O

signal

Description

The I/O configuration is invalid.

The parameter <Actor arg> of one of the cross connections have been

omitted.

Rules:

1. All cross connections must specify at least one actor signal, i.e.

parameter <Actor I/O signal 1> must always be specified.

2. For each operator specified an actor I/O signal must follow, e.g. if

parameter <Operator 2> is specified then parameter <Actor 3> must

also be specified.

This cross connection has been rejected.

Recommended actions

Correct the cross connection so the required actor I/O signals are

specified.

71019, I/O signal undefined

Description

The I/O configuration of a cross connection is invalid.

Consequences

The cross connection has been rejected, and no functions depending on

it will work.

Probable causes

The parameter <Actor arg> of one of the cross connections contains a

reference to an undefined I/O signal <arg>.

Recommended actions

1. Make sure the I/O signal is defined.

2. Make sure the I/O signal name is correctly spelt.

71020, Cross connection without resultant I/O

signal

Description

The I/O configuration is invalid.

The parameter <Resultant I/O signal> of one of the cross connections

have been omitted.

All cross connections must specify a resultant I/O signal.

6 Trouble shooting by Event log

314 3HAC020738-001 Revision: K

This cross connection has been rejected.

Recommended actions

Correct the cross connection so that there are one resultant I/O signal

per cross connection.

71021, Duplicated cross connection resultants

Description

The I/O configuration is invalid.

Multiple cross connections have the same resultant I/O signal <arg>.

Having more than one cross connection that result in the setting of the

same signal may cause unpredictable behaviours, as you cannot

control their order of evaluation.

The complete cross connection configuration has been rejected.

Recommended actions

Make sure that the I/O signal is not specified as the resultant of several

cross connections.

71037, Closed chain in cross connection

Description

The I/O configuration is invalid.

The I/O signal <arg> is part of a cross connection chain that is closed

(i.e. forms a circular dependence that cannot be evaluated).

The complete cross connection configuration has been rejected.

Recommended actions

Correct the configuration for the cross connections where the I/O

signal above is part.

71038, Cross connection max depth exceeded

Description

The I/O configuration is invalid.

The I/O signal <arg> is part of a cross connection chain that is too

deep.

The maximum depth of a cross connection chain is <arg>.

The complete cross connection configuration has been rejected.

Recommended actions

Make the cross connection less deep.

71045, Invalid filter specification

Description

The I/O configuration for I/O signal <arg> is invalid.

No filter times can be specified for this type of I/O signal.

This I/O signal has been rejected.

Recommended actions

Set filter time to 0 or remove the statement.

71049, Analog I/O signal inverted

Description

The I/O configuration for I/O signal <arg> is invalid.

Analog I/O signals must not be inverted.

Only digital and group I/O signals can be inverted.

This I/O signal has been rejected.

Recommended actions

Remove the invert for the I/O signal (or change the signal type).

71050, Cross connection with non-digital actor

I/O signal

Description

The I/O configuration is invalid.

The parameter <Actor arg> of one of the cross connections refer to a

I/O signal <arg>, that is not digital.

Only digital I/O signals can be cross connected.

This cross connection has been rejected.

Recommended actions

Remove the non-digital I/O signal from the cross connection.

71052, Max number of cross connections

exceeded

Description

The I/O configuration is invalid.

The maximum number of cross connections, arg ,in the I/O system has

been exceeded.

Not all the cross connections have been accepted.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

cross connections) so that the maximum limit is not exceeded.

71054, Invalid signal type

Description

The I/O configuration for I/O signal <arg> is invalid.

The specified signal type <arg> is invalid/unknown.

Valid signal types are:

- DI (Digital input)

- DO (Digital output)

- AI (Analog input)

- AO (Analog output)

- GI (Group input)

- GO (Group output)

This I/O signal has been rejected.

Recommended actions

Correct the signal type of the I/O signal.

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71058, Lost communication with I/O unit

Description

The previously working communication with I/O unit <arg> on I/O

bus <arg> has been lost.

Consequences

It is not possible to access the I/O unit itself or I/O signals on the I/O

unit since it is currently not communicating with the controller. The

system will go to state SYS FAIL, if the I/O unit has been assigned

Unit Trustlevel Required (0) in the configuration.

Probable causes

The I/O unit may have been disconnected from the system.

Recommended actions

1. Make sure the I/O unit has been correctly installed.

2. Make sure the cabling to the I/O unit is correctly connected.

71061, Communication failure on I/O bus

Description

A communication failure on I/O bus <arg> has been detected.

Recommended actions

1. Check other messages for fieldbus specific error.

2. If no I/O units are configured to I/O bus, configure I/O units or

remove bus configuration.

71072, Cannot read stored signal value

Description

Cannot read the stored signal value for I/O signal <arg> as it is not

stored.

Recommended actions

Change the configuration of the I/O signal by setting the store attribute.

71076, Communication error from rtp1

Description

No response from the serial line.

Recommended actions

Check the device or connection.

71077, Communication error from rtp1

Description

Not possible to deliver the received message.

Recommended actions

Check the communication flow.

71078, Communication error from rtp1

Description

The response from the device has an invalid frame sequence.

Recommended actions

Check for noise on the serial line.

71080, Max number of unit types exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of unit types in the I/O system has been

exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

unit types) so that the maximum limit is not exceeded.

71081, Max number of physical I/O signals

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of physical I/O signals (bit-mappings) in

the I/O system has been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

physical I/O signals) so that the maximum limit is not exceeded.

71082, Max number of user I/O signals

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of user I/O signals in the I/O system has

been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

I/O signals) so that the maximum limit is not exceeded.

71083, Max number of symbols exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of symbols in the I/O system has been

exceeded.

The number of symbols is the sum of all namned configuration

instances:

- I/O Buses

- Unit types

- I/O Units

- I/O Signals

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316 3HAC020738-001 Revision: K

- Command types

- Commands

- I/O Access levels

- CIP Routes

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

symbols) so that the maximum limit is not exceeded.

71084, Max number of subscribed I/O signals

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of subscribed I/O signals in the I/O system

has been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

subscriptions) so that the maximum limit is not exceeded.

71085, Max number of I/O units exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of I/O units in the I/O system has been

exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

I/O units) so that the maximum limit is not exceeded.

71097, Input I/O signal stored

Description

The I/O configuration for I/O signal <arg> is invalid.

Input I/O signals must not be stored.

Only output I/O signals can be stored.

This I/O signal has been rejected.

Recommended actions

Remove the store for the I/O signal (or change the signal type).

71098, NFS server lost

Description

The contact with the NFS server <arg> is lost.

Recommended actions

1. The NFS server.

2. The network connection.

3. The controller configuration.

71099, Trusted NFS server lost

Description

The contact with the trusted NFS server <arg> is lost.

Recommended actions

1. The NFS server.

2. The network connection.

3. The controller configuration.

71100, Max number of I/O buses exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of I/O buses in the I/O system has been

exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

I/O buses) so that the maximum limit is not exceeded.

71101, I/O bus undefined

Description

The I/O configuration for I/O unit <arg> is invalid.

The I/O bus <arg> cannot be found in the system. An I/O unit must

refer to a defined I/O bus.

Installed I/O buses are:argargarg

Consequences

This I/O unit has been rejected, and no functions depending on it will

work.

Recommended actions

1. Make sure the I/O bus is defined.

2. Make sure the I/O bus name is correctly spelt.

71108, Interbus I/O unit failure

Description

I/O unit <arg> at address <arg> reported peripheral fault. Interbus

specific error code: arg.

Consequences

The I/O unit cannot be contacted by the control system. Parts of the

Interbus network will not be accessible, depending on the network

topology and the nature of the fault.

Probable causes

A number of errors may cause this. Further information may be found

in the standard Interbus documentation.

Recommended actions

1. Make sure the I/O unit at the above address is functioning correctly.

2. Check the Interbus specific error code as specified in the Interbus

Manuals: Firmware Service and Error Messages.

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71109, Interbus bus failure

Description

The control system has lost communication with the Interbus network.

There is no error message from any Interbus board.

Consequences

Parts of the Interbus network will not be accessible, depending on the

network topology and the nature of the fault.

Probable causes

A number of errors may cause this. Further information may be found

in the standard Interbus documentation.

Recommended actions

1. Make sure the Customer Power Supply unit, supplying the

Interbus network with power, is working correctly. Replace any faulty

I/O unit.

2. Make sure any fuses are correctly connected.

3. Make sure all communication cables and connectors are working

correctly and of the recommended type.

4. Check network topology and cable length.

5. Restart the system.

71110, Interbus bus failure

Description

The control system has lost communication with the I/O unit at address

<arg.arg>. Interbus specific error code: arg.

Consequences

Parts of the Interbus network will not be accessible, depending on the

network topology and the nature of the fault.

Probable causes

A number of errors may cause this. Further information may be found

in the standard Interbus documentation.

Recommended actions

1. Make sure the I/O unit at the above address is functioning correctly.

2. Check the Interbus specific error code as specified in the Interbus

Manuals: Firmware Service and Error Messages.

71111, ID code mismatch

Description

The ID code <arg> read from Interbus I/O unit <arg> doesn't match

the expected value arg from the unit type configuration.

Consequences

The I/O unit has not been configured, and cannot be used by the

system.

Probable causes

Wrong ID code value may have been introduced to the system

parameters. The Interbus network may have been configured with a I/

O unit with the wrong ID code.

Recommended actions

Check the ID code of the I/O unit's unit type in the system parameters.

How to check the configuration file is detailed in the Trouble Shooting

Manual.

2. Replace the I/O unit with another using the correct ID code in the

Interbus configuration as specified in the supplier's documentation.

3. Specify a generic unit type in the system parameters: ibsGeneric and

ibsSlave.

71114, Invalid IP address

Description

The IP address <arg> is not valid.

Recommended actions

Check the communication configuration.

71115, Invalid subnet mask

Description

The subnet mask <arg> is not valid.

Recommended actions

Check the communication configuration.

71116, Deactivated I/O unit with Unit Trustlevel

Description

The I/O configuration of I/O unit <arg> is invalid.

I/O units with Unit Trustlevel Required (0) are not allowed to be

Deactivated.

Consequences

This I/O unit has been rejected, and no functions depending on it will

work.

Recommended actions

Correct the configuration of the I/O unit by either Activating it or

changing the Unit Trustlevel.

71122, Incorrect IP address

Description

The address <arg> in protocol <arg> is not a correct IP address.

Recommended actions

Correct the address.

71123, No transmission protocol

Description

The transmission protocol <arg> given for application protocol <arg>

could not be found.

Recommended actions

Change the transmission protocol.

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71125, Mount Permission denied

Description

Permission was denied to mount the directory <arg> on the server

<arg>.

Recommended actions

Change the User or Group ID.

71126, Directory not exported

Description

Mounting directory <arg> as <arg> failed since it is not exported on

the server computer <arg>.

Protocol: <arg>.

Recommended actions

Export the directory on the server computer.

71128, Ethernet not installed

Description

The Ethernet Services option has to be installed when using remote

mounted disk.

Recommended actions

Reboot and install the Ethernet Services option.

71129, Too many remote disks

Description

The maximum number of remote mounted disks have been exceeded.

The maximum number is arg.

Recommended actions

Reduce the number of remote mounted disks.

71130, Too many remote servers

Description

The maximum number of servers for remote mounted disks have been

exceeded.

The maximum number is arg.

Recommended actions

1. Reduce the number of servers.

71131, Could not mount directory

Description

Mounting directory <arg> on the computer <arg> failed.

Protocol: <arg>.

Recommended actions

Check the server setup.

71139, Access error from I/O system

Description

Cannot read or write I/O signal <arg> due to communication down.

Recommended actions

Check 'No contact with I/O unit' report for more detailed information.

71141, Default value for I/O signal out of range

Description

The I/O configuration for I/O signal <arg> is invalid.

The default value is out of range.

This I/O signal has been rejected.

Recommended actions

Change the default value for the I/O signal.

71145, Interbus bus has been deactivated

Description

The Interbus bus has switched to a none running mode.

Recommended actions

Restart the system.

2. Check that correct Interbus boot project is selected.

71147, No response from the Interbus network

Description

Access to the Interbus network is denied.

Recommended actions

1. Check the Interbus board.

2. Check the internal Interbus configuration.

3. Reduce the cycle time on the slave I/O unit.

71148, No access to the Interbus network

Description

Access to the Interbus service interface is denied during arg, error code

is 0xarg.

Recommended actions

1. Check the internal Interbus configuration.

2. The Interbus may be faulty. Replace any faulty I/O unit if required.

71156, IPC queue full

Description

The interprocess communication (IPC) queue <arg> was full, when

sending to trap routine.

Recommended actions

Restart the system.

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71158, Address out of range

Description

The I/O configuration is invalid.

The address of I/O unit <arg> is invalid (out of range).

This I/O unit has been rejected.

Recommended actions

1. Change the address.

2. Check the address syntax.

71163, I/O signal on internal I/O unit

Description

The I/O configuration is invalid.

The user-defined I/O signal <arg> must not be connected to the

internal I/O unit <arg>

User defined I/O signals are not allowed to be connected to internal I/

O units.

This I/O signal has been rejected.

Recommended actions

Connect the I/O signal to another I/O unit.

71164, Internal I/O signal in cross connection

Description

The I/O configuration contains an invalid cross connection.

The <Actorargarg> is a user-defined I/O signal whereas the resultant

I/O signal <arg> is an internal I/O signal.

It is not allowed to define cross connections where user-defined I/O

signals affect internal I/O signals.

Recommended actions

Correct the cross connection so that there are no internal I/O signals in

the resultant expression.

71165, FTP server went down

Description

The connection to a non-trusted FTP server has been lost.

IP address: <arg>.

Recommended actions

Check cable and FTP server settings.

71166, FTP server went down

Description

The connection to a trusted FTP server has been lost.

IP address: <arg>.

Recommended actions

Check cable and FTP server settings.

71167, Wrong transmission protocol

Description

No matching transmission protocol was found in the configuration.

Recommended actions

Change the transmission protocol.

71169, Ethernet not installed

Description

The option Ethernet Services with FTP is not installed on this system.

Recommended actions

Reboot and install the Ethernet Services with FTP option.

71182, I/O signal undefined

Description

The I/O configuration is invalid.

The parameter <Resultant I/O signal> of one of the cross connections

contains a reference to an undefined I/O signal <arg>.

This cross connection has been rejected.

Recommended actions

Correct the cross connection so that the resultant I/O signal refers to an

existing I/O signal.

71183, Cross connection with invalid operator

Description

The I/O configuration is invalid.

The parameter <Operator arg> of one of the cross connections

contains an invalid/unknown operator <arg>.

Valid values for the logical operator are:

- AND

- OR

This cross connection has been rejected.

Recommended actions

Correct the operator.

71185, Duplicated name

Description

The I/O configuration is invalid.

The identifier <arg> has already been used as the name of another

configuration instance.

The following configuration instances must have unique names:

- I/O Buses

- Unit types

- I/O Units

- I/O Signals

- Command types

- Commands

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320 3HAC020738-001 Revision: K

- I/O Access levels

- CIP Routes

This configuration instance has been rejected.

Recommended actions

1. Rename one of the configuration instances in system parameters.

2. Restart the system.

71193, Invalid physical I/O mapping

Description

I/O mapping error on I/O unit <arg>.

Recommended actions

Check configuration for physical signal mapping.

71196, Invalid encoding type

Description

The I/O configuration for I/O signal <arg> is invalid.

The encoding type <arg> is not valid for signal type <arg>.

Valid encoding types are:

- UNSIGNED

- TWO_COMP

This I/O signal has been rejected.

Recommended actions

Correct the encoding type for the I/O signal.

71201, Unknown I/O bus

Description

The I/O configuration is invalid.

The I/O bus <arg> cannot be found in the system.

Installed I/O buses are:argargargarg

Consequences

This I/O bus has been rejected, and no functions depending on it will

work.

Recommended actions

1. Make sure the system has been configured with the desired I/O bus.

2. Make sure the I/O bus option at hand is installed.

3. Check the configuration for I/O bus.

71205, Could not mount directory

Description

Mounting directory <arg> on the computer <arg> failed.

Protocol: <arg>.

Recommended actions

1. Check the FTP server setup.

2. Check the FTP client configuration.

3. Check communication hardware, cabling.

71220, No Profibus option has been installed

Description

A Profibus-DP master/slave board has been fitted, but no Profibus

option has been installed.

Consequences

No communication on the Profibus is possible. There may be

consequential errors from configuring Profibus when no such option

has been installed.

Probable causes

An attempt may have been made to add the Profibus functionality,

without installing the option correctly.

Recommended actions

1. If the Profibus option is required: configure a new system with this

option, and install the system.

2. If the Profibus option is not required: configure a new system

without this option, and install the system.

71221, Profibus firmware file not found

Description

The Profibus <arg> firmware file not found or not readable.

The board firmware may be out of date.

Recommended actions

Reinstall the system.

71222, Profibus configuration file not found

Description

The binary Profibus configuration file was not found.

- File: <arg>

- Path: <arg>.

Recommended actions

1. Make sure the file exists.

2. Change the path in the I/O configuration.

71223, Profibus file parse error

Description

The binary Profibus configuration file is corrupt. (Internal error: arg)

- File: <arg>

- Path: <arg>.

Recommended actions

Recreate and download the binary configuration file using the external

Profibus configuration tool.

71224, Profibus channel has been reflashed

Description

The arg channel firmware of the Profibus board has been updated from

<arg> to <arg>.

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71225, Profibus configuration error

Description

The local slave channel has more DI/DO than the configuration in its

master.

Recommended actions

Make the number of DI/DO of the external Profibus master more or

equal than the local slave.

71226, Profibus configuration ok

Description

The number of DI/DO of the external Profibus master is now more or

equal than for the I/O unit of DP_SLAVE type.

Recommended actions

71227, Initialization of Profibus slave failed

Description

The slave channel on the Profibus-DP master/slave board did not start

up correctly.

Consequences

No communication on the Profibus slave channel is possible.

Probable causes

The board hardware may be malfunctioning.

Recommended actions

1. Restart the system.

2. Replace the Profibus slave board if faulty.

71228, Profibus binary configuration fault

Description

The configuration data in the binary file is not accepted by the slave at

address <arg>.

Recommended actions

Make the configuration data in the binary file match the configuration

for the slave and reboot the system

71229, Profibus binary parameter fault

Description

The parameter data in the binary file is not accepted by the slave at

address <arg>.

Recommended actions

Make the parameter data in the binary file match the parameters for the

slave and reboot the system.

71230, I/O unit configuration error

Description

I/O unit <arg> is configured in system parameters but is missing or

incorrect in Profibus binary file.

Recommended actions

1. Check/change system parameters.

2. Check/change Profibus binary file.

71231, Wrong Profibus I/O unit is connected

Description

Profibus I/O unit <arg> at address <arg> has the wrong identity

number. Reported identity number is arg. Expected identity number is

arg.

Consequences

The system will not be able to Activate the I/O unit and no

communication on the Profibus will be possible.

Probable causes

-The I/O unit at address <arg> may be the wrong type of I/O unit.

-The configuration may be incorrect, i.e. an incorrect binary

configuration file and in some cases incorrect system parameters.

Recommended actions

1. Make sure the system parameters are correct.

2. Make sure the Profibus binary file is correct.

3. Replace the I/O unit.

71232, Too many internal Profibus slaves

Description

There are too many internal Profibus slaves defined in the system.

Consequences

Profibus I/O unit <arg> will not be configured. No communication

with this unit

will be possible.

Probable causes

Profibus I/O unit <arg> is defined as an internal slave while another

internal slave has already been configured.

The maximum number of internal slaves is 1.

Recommended actions

1. Make sure the system parameters are correct.

2. Make sure the Profibus binary file is correct.

71241, Too many I/O units on I/O bus

Description

The I/O configuration for I/O unit <arg> is invalid.

The number of I/O units on I/O bus <arg> must not exceed arg.

This I/O unit has been rejected.

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Recommended actions

Reduce the number of defined I/O units and reboot the system.

71244, Incorrect Interbus unit type

Description

I/O unit <arg> at address <arg> has a unit type not supported by the

system.

Consequences

The I/O unit has not been configured, and cannot be used by the

system.

Probable causes

One or more of the units connected to the network is of a hardware

version not supported by the system.

Recommended actions

1. Replace the unsupported I/O unit with one of the correct version.

2. Make sure the system parameters are correct.

3. Reconfigure the Interbus network.

71245, I/O unit not defined in Interbus

configuration

Description

I/O unit <arg.arg> is not assigned to any address in the Interbus

configuration.

Consequences

The I/O unit has not been configured, and cannot be used by the

system.

Probable causes

Data for defining the I/O unit is missing in the Interbus configuration.

Recommended actions

Change the Interbus configuration using the CMD tool under the

Process Data menu. Add an address for the I/O unit. The CMD tool is

available from your local ABB representative.

71246, No access to Interbus data

Description

Access to the Interbus board data interface is denied. arg not

performed, error code arg.

Recommended actions

1. The Interbus board may be faulty. Replace any faulty boards if

required.

2. Check the Interbus internal configuration.

71248, Interbus I/O unit configuration mismatch

Description

The Interbus I/O unit with address <arg> is configured in the system

parameters, but not in the Interbus configuration.

Consequences

The I/O unit has not been configured, and cannot be used by the

system.

Probable causes

The Interbus unit address in the Interbus configuration differs from

that in the system parameters, or the I/O unit may not have been

configured at all in the Interbus configuration.

Recommended actions

1. Make sure system parameters are correct.

2. Reconfigure the Interbus network.

71249, Interbus I/O unit configuration mismatch

Description

The Interbus I/O unit with address <arg.arg> is configured in the

Interbus configuration, but not in the system parameters.

Consequences

The I/O unit has not been configured, and cannot be used by the

system.

Probable causes

The Interbus unit address in the Interbus configuration differs from

that in the system parameters, or the I/O unit may not have been

configured at all in the system parameters.

Recommended actions

1. Make sure system parameters are correct.

2. Reconfigure the Interbus network.

71250, Cannot configure Interbus board

Description

An error has occurred when downloading Interbus configuration file to

the Interbus board. Interbus specific error code: arg.

Consequences

The I/O bus has not been configured, and cannot be used by the system.

Probable causes

The path specifying the Interbus configuration files points out the

wrong files or that configuration file is incorrect.

Recommended actions

1. Use RobotStudio to check the path to the configuration files.

2. Make sure the configuration files are correct.

3. Check the Interbus specific error code as specified in the Interbus

Manuals: Firmware Service and Error Messages.

71258, Interbus configuration file not found

Description

The Interbus configuration file <arg>, configured in the system

parameters, was not found.

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Consequences

The I/O bus has not been configured, and cannot be used by the system.

Probable causes

The Interbus configuration file does not exist or the path specified in

the system parameters was incorrect.

Recommended actions

1. Make sure the Interbus configuration files are correctly located.

2. Use RobotStudio to check the path to the configuration files.

71259, Cannot read the Interbus configuration

file

Description

An error occurred when attempting to read the Interbus board

configuration file <arg>.

Consequences

The I/O bus has not been configured, and cannot be used by the system.

Recommended actions

1. Reload the Interbus configuration file to the robot controller.

2. Restart the system.

71260, Interbus bus failure

Description

The control system has lost communication with the Interbus network.

Interbus specific error code: arg.

Consequences

Parts of the Interbus network will not be accessible, depending on the

network topology and the nature of the fault.

Probable causes

A number of errors may cause this. Further information may be found

in the standard Interbus documentation.

Recommended actions

1. Make sure all communication cables and connectors are working

correctly and of the recommended type

2. Check the Interbus specific error code as specified in the Interbus

Manuals: Firmware Service and Error Messages.

71261, Transport layer failure

Description

The physical channel for transport layer arg is invalid.

Recommended actions

Verify that the physical channel is valid, see manual.

71273, I/O unit configuration mismatch

Description

I/O unit <arg> is configured in the system parameters, but it cannot be

found in the I/O bus specific configuration.

Probable causes

1. The address of the I/O unit in the system parameters are not the same

as in the I/O bus specific configuration.

2. The I/O unit has not been configured at all in the I/O bus specific

configuration.

Recommended actions

1. Check I/O unit configuration in system parameters

2. Check I/O bus specific configuration

71274, Interbus bus failure

Description

The control system was unable to determine the bus operating mode of

the Interbus board.

Recommended actions

Restart the system.

71276, Communication established with I/O unit

Description

Communication established with I/O unit <arg>.

71278, Mount permission denied

Description

Permission was denied to mount the directory <arg> on the server

<arg>.

Recommended actions

Check the username and password.

71288, Mount path is too large

Description

Mount path is too large. Mount path consists of FTP server mount

point and server path.

- Max length: <arg>

- Protocol used: <arg>

Recommended actions

Change FTP server mount point or server path.

71289, Memory partition is too big

Description

The memory partition for communication purposes cannot be

allocated. The requested partition arg kB. System partition will be

used.

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Recommended actions

Decrease commPartSize.

71290, Could not add FTP device

Description

Adding the FTP device <arg> to the operating system failed.

Application protocol <arg>.

Recommended actions

Change the local path of the configuration of the FTP device.

71291, Invalid local path

Description

Local path of the FTP device <arg> is invalid.

Recommended actions

Local path must end with :

71293, Invalid input size

Description

On DeviceNet I/O unit <arg> the connection 1 input size does not

match the I/O unit.

Recommended actions

1. Change size in configuration.

2. Check module.

3. Use DN_GENERIC unit type

71294, Invalid output size

Description

On DeviceNet I/O unit <arg> the connection 1 output size does not

match the I/O unit.

Recommended actions

1. Change size in configuration.

2. Check module.

3. Use DN_GENERIC unit type

71295, Invalid input size

Description

On DeviceNet I/O unit <arg> the connection 2 input size does not

match the I/O unit.

Recommended actions

1. Change size in configuration.

2. Check module.

71296, Invalid output size

Description

On DeviceNet I/O unit <arg> the connection 2 output size does not

match the I/O unit.

Recommended actions

1. Change size in configuration.

2. Check module.

71297, Invalid connection type

Description

The DeviceNet I/O unit <arg> does not support arg connection.

Recommended actions

1. Change connection 1 type and/or connection 2 type in configuration.

2. Use DN_GENERIC unit type.

71298, Duplicated address

Description

The address <arg> for the DeviceNet master on I/O bus <arg> is

occupied by another I/O unit on the network.

Recommended actions

1. Change master address in configuration.

2. Disconnect I/O unit occupying the address from the network.

3. Restart the system.

71299, No power on DeviceNet bus

Description

The 24 V power supply from the DeviceNet power supply is missing.

Consequences

No communication on the DeviceNet bus <arg> is possible.

Probable causes

The power supply unit, cabling, input voltage to the power supply or

the output load may cause the power loss. See the Trouble Shooting

Manual and Circuit Diagram!

Recommended actions

1. Check all cabling to the power supply unit.

2. Measure the output and input voltage levels.

3. Replace the faulty I/O unit if required.

71300, DeviceNet bus communication warning

Description

A minor number of communication errors occurred on DeviceNet bus

<arg>.

Consequences

Normal operation will be maintained, even on the DeviceNet.

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Probable causes

The fault may be caused by interference, power supply units and

cables, or communication cables.

Recommended actions

1. Make sure any terminating resistors are correctly connected.

2. Make sure all communication cables and connectors are working

correctly and of the recommended type.

3. Check network topology and cable length.

4. Make sure the DeviceNet Power Supply unit is working correctly.

Replace any faulty unit.

71301, Bus off, DeviceNet bus communication

failure

Description

A major number of communication errors occurred on DeviceNet bus

<arg>.

Consequences

All communication on the DeviceNet Bus has stopped.

Probable causes

The fault may be caused by interference, power supply units and

cables, or communication cables.

Recommended actions

1. Make sure the DeviceNet Power Supply unit is working correctly.

Replace any faulty I/O unit.

2. Make sure any terminating resistors are correctly connected.

3. Make sure all communication cables and connectors are working

correctly and of the recommended type.

4. Check network topology and cable length.

5. Restart the system.

71302, No DeviceNet option has been installed

Description

A DeviceNet master/slave board has been fitted, but no DeviceNet

option has been installed.

Consequences

No communication on the DeviceNet is possible. There may be

consequential errors from configuring DeviceNet when no such option

has been installed.

Probable causes

An attempt may have been made to add the DeviceNet functionality,

without installing the option correctly.

Recommended actions

1. If the DeviceNet option is required: configure a new system with this

option, and install the system.

2. If the DeviceNet option is not required: configure a new system

without this option, and install the system.

71303, Invalid DeviceNet vendor id

Description

The vendor id read from DeviceNet I/O unit <arg> doesn't match value

in unit type configuration.

- Configuration: <arg>

- Actual: <arg>

Recommended actions

1. Change vendor id in configuration.

2. Check that the type of I/O unit is correct.

71304, Invalid DeviceNet device type

Description

The device type read from DeviceNet I/O unit <arg> doesn't match

value in unit type configuration.

- Configuration: <arg>

- Actual: <arg>

Recommended actions

1. Change device type in configuration.

2. Check that the type of I/O unit is correct.

71305, Invalid DeviceNet product code

Description

The product code read from DeviceNet I/O unit <arg> doesn't match

value in unit type configuration.

- Configuration: <arg>

- Actual: <arg>

Recommended actions

1. Change product code in configuration.

2. Check that the type of I/O unit is correct.

71306, DeviceNet unknown error

Description

An unknown error is reported from I/O unit <arg> error code arg.

Recommended actions

1. Restart the system.

2. Report problem to ABB.

71307, DeviceNet generic connection 1

Description

On DeviceNet I/O unit <arg> connection 1 configuration are generic.

Real values:

- Connection 1 type: <arg>

- Connection 1 input size: <arg>

- Connection 1 output size: <arg>

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Recommended actions

1. Create a new unit type with correct values.

2. Update your current unit type configuration.

71308, DeviceNet generic connection 2

Description

On DeviceNet I/O unit <arg> connection 2 configuration are generic.

Real values:

- Connection 2 type: <arg>

- Connection 2 input size: <arg>

- Connection 2 output size: <arg>

Recommended actions

1. Create a new unit type with correct values.

2. Update your current unit type configuration.

71309, DeviceNet generic unit identification

Description

On DeviceNet I/O unit <arg> identity configuration are generic.

Real values:

- Vendor Id: <arg>

- Product code: <arg>

- Device type: <arg>

Recommended actions

1. Create a new unit type with correct values.

2. Update your current unit type configuration.

71310, DeviceNet I/O unit connection error

Description

DeviceNet I/O unit <arg> is occupied by another master.

Recommended actions

1. Check configuration.

2. Cycle power on I/O unit.

71311, Unable to established communication

on DeviceNet bus

Description

Unable to established communication on DeviceNet bus <arg>

because no I/O units are physically connected.

Recommended actions

1. Check cables and connectors.

2. Connect I/O units to I/O bus.

3. Restart the system.

4. Remove I/O units on the I/O bus <arg> from the configuration.

71312, DeviceNet I/O unit explicit connection

not enabled

Description

DeviceNet I/O unit <arg> does not have the explicit message

connection enabled.

Recommended actions

Change configuration.

71313, Fieldbus command type order number

not unique.

Description

The I/O configuration is invalid.

Fieldbus command <arg> and <arg> are connected to the same unit

type <arg> and have the same order number <arg>.

The order number of commands connected to the same I/O unit must

be unique.

This command has been rejected.

Recommended actions

Correct the configuration.

71314, Invalid fieldbus command type

Description

The I/O configuration is invalid.

One of the fieldbus commands has a reference to an invalid/unknown

command type < arg>.

All fieldbus commands must refer to an existing command type.

This fieldbus command has been rejected.

Recommended actions

Correct the fieldbus command type for the command.

71315, Max number of fieldbus commands

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of fieldbus commands in the I/O system

has been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

fieldbus commands) so that the maximum limit is not exceeded.

71316, Max number of fieldbus command types

exceeded

Description

The I/O configuration is invalid.

The maximum number arg, of fieldbus command types in the I/O

system has been exceeded.

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Recommended actions

Modify the configuration of the I/O system (by reducing the number of

fieldbus command types) so that the maximum limit is not exceeded.

71317, DeviceNet I/O unit reset

Description

DeviceNet I/O unit <arg> have been restarted through fieldbus

command arg,

to make sure fieldbus command values are activated.

This will cause the I/O unit to loose contact while the I/O unit is

restarted and then automatically be reconnected.

Recommended actions

1. Do nothing.

2. If restart not necessary remove fieldbus command configuration on

unit type.

71318, Failed to send fieldbus command

Description

Fieldbus command <arg> to I/O unit <arg> was not successfully sent.

Recommended actions

Check fieldbus command configuration.

71320, Max number of I/O access levels

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of I/O access levels in the I/O system has

been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

I/O access levels) so that the maximum limit is not exceeded.

71321, Invalid I/O access level

Description

The I/O configuration is invalid.

The I/O signal <arg> has a reference to an invalid/undefined I/O

access level <arg>.

All I/O signals must either omit the access level or refer to an existing

access level.

This I/O signal has been rejected.

Recommended actions

Change I/O access level to one that exist or define a new I/O access

level.

71323, Invalid bit values

Description

The I/O configuration for I/O signal <arg> is invalid.

The minimum bit value <arg> must not be less than <arg>.

The maximum bit value <arg> must not exceed <arg>.

The minimum bit value must be less than the maximum bit value.

This I/O signal has been rejected.

Recommended actions

1. Check that the I/O signal is configured with the correct encoding

type.

2. Check that the min and max bit values are correct.

71324, Physical limitation values out of range

Description

The I/O configuration for I/O signal <arg> is invalid.

The physical limitation minimum value must be less than the physical

limitation maximum value.

This I/O signal has been rejected.

Recommended actions

Correct the physical limitation values for the I/O signal so that the

minimum value becomes less than the maximum value.

71325, Invalid I/O bus configuration

Description

The I/O configuration for I/O bus <arg> is invalid.

User-defined (externally loaded) I/O buses must no be specified as

local.

This I/O bus has been rejected.

Recommended actions

Change the bus type of the I/O bus.

71326, Invalid unit type configuration

Description

The I/O configuration for unit type < arg> is invalid.

User-defined (externally loaded) unit types must no be specified as

local.

This I/O bus has been rejected.

Recommended actions

Change the bus type of the I/O unit type.

71328, Invalid name

Description

The I/O configuration is invalid.

The configuration instance <arg> does not comply with the rules of

RAPID identifiers.

This configuration instance has been rejected.

Recommended actions

Correct the name of the configuration instance so that it complies with

the following rules:

Rules of RAPID identifiers:

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1, The length must not exceed 16 characters.

2, The first character must be a letter (a-z or A-Z).

3, Subsequent characters must be letters (a-z or A-Z), digits (0-9) or

underscores (_).

71329, Invalid Connector ID

Description

The I/O configuration for I/O bus <arg> is invalid.

No or invalid connector ID is selected for the <arg> bus type.

This I/O bus has been rejected.

Recommended actions

Select a valid connector ID for the I/O bus.

71330, Conflicting bus types

Description

The I/O configuration for I/O bus <arg> is invalid.

There are duplicated <arg> I/O buses with same connector ID <arg>.

I/O buses of the same type must have unique connector ID:s.

This I/O bus has been rejected.

Recommended actions

Correct the connector ID for the I/O bus.

71331, Invalid bus type

Description

The I/O configuration for I/O bus <arg> is invalid.

The bus type <arg> is invalid or unknown

Installed valid bus types are:argargarg

Consequences

This I/O bus has been rejected, and no functions depending on it will

work.

Recommended actions

Correct the bus type for the I/O bus.

71332, Invalid recovery time

Description

The I/O configuration for I/O bus <arg> is invalid.

The value of the recovery time parameter <arg> is incorrect.

The recovery time (how often to try regaining contact with lost I/O

units) must not be less than 5 seconds.

This I/O bus has been rejected.

Recommended actions

Correct the recovery time for the I/O bus.

71333, Invalid DeviceNet baud rate

Description

The I/O configuration for I/O bus <arg> is invalid.

The value of the DeviceNet baud rate parameter <arg> is incorrect.

Valid DeviceNet baud rates are:

- 125

- 250

- 500

This I/O bus has been rejected.

Recommended actions

Correct the DeviceNet baud rate for the I/O bus.

71334, Command type without reference to unit

type

Description

The I/O configuration is invalid.

No reference to a unit type is defined for the command type <arg>.

All command types must have a reference to an existing unit type.

This command type has been rejected.

Recommended actions

Define a unit type reference for the command type.

71335, Invalid unit type

Description

The I/O configuration for command type < arg> is invalid.

The unit type <arg> is invalid/unknown.

All command types must refer to an existing/defined unit type.

This command type has been rejected.

Recommended actions

Correct the unit type for the command type.

71336, Command type without DeviceNet path

Description

The I/O configuration is invalid.

No DeviceNet path is defined for the command type <arg>.

This command type has been rejected.

Recommended actions

Define a DeviceNet path <arg> for the command type.

71337, Command type without DeviceNet

service identifier

Description

The I/O configuration is invalid.

No DeviceNet service identifier is defined for the command type

<arg>.

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This command type has been rejected.

Recommended actions

Define a DeviceNet service identifier <arg> for the command type.

71338, Invalid DeviceNet service identifier

Description

The I/O configuration is invalid.

DeviceNet service identifier <arg> is not valid for command type

<arg>.

Valid DeviceNet service identifiers are:

<arg>

This command type has been rejected.

Recommended actions

Correct the DeviceNet service identifier for the command type.

71339, Fieldbus command without reference to

I/O unit

Description

The I/O configuration is invalid.

One of the fieldbus commands has no reference to a I/O unit.

All fieldbus commands must have a reference to an existing I/O unit.

This fieldbus command has been rejected.

Recommended actions

Define a I/O unit reference for the fieldbus command.

71340, Invalid I/O unit

Description

The I/O configuration is invalid.

One of the fieldbus commands has a reference to an invalid/unknown

I/O unit <arg>.

All fieldbus commands must have a reference to an existing I/O unit.

This fieldbus command has been rejected.

Recommended actions

Correct the I/O unit for the fieldbus command.

71341, Fieldbus command, no reference to

command type

Description

The I/O configuration is invalid.

One of the fieldbus commands has no reference to a command type.

All fieldbus commands must have a reference to an existing command

type.

This fieldbus command has been rejected.

Recommended actions

Define a command type reference for the fieldbus command.

71342, Unit type mismatch

Description

The I/O configuration is invalid.

One of the fieldbus commands refers to a I/O unit <arg> and a

command type <arg> that refer to different unit types.

The I/O unit and command type referred to by a fieldbus command

must refer to the same unit type.

This fieldbus command has been rejected.

Recommended actions

Correct the configuration.

71344, Unit map undefined

Description

The I/O configuration for I/O signal <arg> is invalid.

Unit map is undefined or empty.

A unit map must be specified for all physical I/O signals (i.e. signals

connected to an unit).

This I/O signal has been rejected.

Recommended actions

Define a unit map for the I/O signal.

71346, Unit map out of range

Description

The I/O configuration for I/O signal <arg> is invalid.

The unit map <arg> is invalid since bit <arg> is out of range.

All bits in the unit map must be in the range [0, arg].

This I/O signal has been rejected.

Recommended actions

Correct the unit map.

71347, Unit map with overlapping segments

Description

The I/O configuration for I/O signal <arg> is invalid.

The unit map <arg> contains segments (e.g bit arg) that overlap each

other.

This I/O signal has been rejected.

Recommended actions

Correct the unit map.

71348, Unit map with unexpected character

Description

The I/O configuration for I/O signal <arg> is invalid.

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Found unexpected end or character at position <arg> in the unit map:

<arg>.

This I/O signal has been rejected.

Recommended actions

Correct the unit map so that is comply with the following syntax:

- {bit} = ([0-9]+)

- {range} = ([0-9]+[-][0-9]+)

- {segment} = ({bit} | {range})

- {unit map} = ({segment}[,])*{segment}

Examples of valid unit maps:

- "1"

- "0-7, 15-8"

- "1,4-3,7"

71349, Invalid signal size

Description

The I/O configuration for I/O signal <arg> is invalid.

There is a mismatch between the signal type and the size of the signal.

The signal size <arg> is given by the unit map: <arg>.

This I/O signal has been rejected.

Recommended actions

Correct either the signal type or the unit map so that the following rules

are fulfilled:

- The size of digital I/O signals must be exactly one bit.

- The size of analog and group I/O signals must be between 2 and 32

bits.

71350, Invalid bus type

Description

The I/O configuration is invalid.

The unit type <arg> has an invalid/unknown bus type <arg>.

Installed valid bus types are:argargarg

Consequences

This unit type has been rejected, and no functions depending on it will

work.

Recommended actions

Correct the bus type for the unit type.

71351, Invalid connection 1 type

Description

The I/O configuration is invalid.

The unit type <arg> has an invalid/unknown type for connection 1

<arg>.

The type for connection 1 must be one of the following:

- POLLED

- STROBE

- COS

- CYCLIC

- COS_ACKSUP

- CYCLIC_ACKSUP

This unit type has been rejected.

Recommended actions

Correct the connection 1 type of the unit type.

71352, Invalid connection 2 type

Description

The I/O configuration is invalid.

The unit type <arg> has an invalid/unknown type for connection 2

<arg>.

The type for connection 2 must either be omitted or one of the

following:

- POLLED

- STROBE

- COS

- CYCLIC

- COS_ACKSUP

- CYCLIC_ACKSUP

This unit type has been rejected.

Recommended actions

Correct the connection 2 type of the unit type.

71353, Unit without reference to unit type

Description

The I/O configuration is invalid.

No reference to a unit type is defined for the I/O unit <arg>.

This I/O signal has been rejected.

Recommended actions

Define a unit type reference for the I/O unit.

71354, I/O unit without reference to I/O bus

Description

The I/O configuration is invalid.

No reference to a I/O bus is defined for the I/O unit <arg>.

This I/O unit has been rejected.

Recommended actions

Define a I/O bus reference for the I/O unit.

71355, Invalid trustlevel

Description

The I/O configuration is invalid.

Unit type <arg> has an invalid/unknown trustlevel <arg>.

Valid trustlevel values are:

- 0 (Required)

- 1 (Error when lost)

- 2 (Loss accepted)

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- 3 (Stop when lost)

This command type has been rejected.

Recommended actions

Correct the trustlevel for the unit type.

71356, Bus type mismatch

Description

The I/O configuration is invalid.

Unit <arg> refers to a I/O bus and a unit type with different bus types.

This I/O unit has been rejected.

Recommended actions

1. Check that the I/O unit is connected to the correct I/O bus and that

the bus type of that I/O bus is correct.

2. Check that the I/O unit refers to the correct unit type and that the bus

type of that unit type is correct.

71357, Duplicated I/O units on I/O bus <Local>

Description

The I/O configuration for I/O unit <arg> is invalid.

There is already another user-defined I/O unit connected to the I/O bus

<Local>.

Only one user-defined I/O unit may be connected to the I/O bus

<Local>.

This I/O unit has been rejected.

Recommended actions

Correct the I/O configuration.

71358, Power fail restore full

Description

I/O unit <arg> could not be setup for power failure restore.

The table for power fail is full.

Recommended actions

Remove some other I/O units from the restore list.

71359, Option Multiple Serial Ports is not

installed

Description

The system has attempted to address the serial port <arg>, and failed.

Consequences

The connector and the physical channel using the connector will not be

available for use.

Probable causes

The option, Multiple Serial Ports, has not been installed in the system.

Recommended actions

1. If the option is required: configure a new system WITH this option,

and install the system.

2. If the option is NOT required: remove the unsupported

communication channels from the configuration.

71361, Cross connection with non digital

resultant signal

Description

The I/O configuration is invalid.

The parameter <Resultant I/O signal> of one of the cross connections

refer to a I/O signal <arg>, that is not digital.

Only digital I/O signals can be cross connected.

This cross connection has been rejected.

Recommended actions

Remove the non-digital I/O signal from the cross connection.

71362, I/O signal mapped outside the I/O unit

data area

Description

Cannot change physical state of I/O signal <arg> to VALID.

The reason is that the I/O signal is mapped to bit(s) that lies outside the

data area of the I/O unit it is assigned to.

I/O signal assigned to I/O unit <arg>

I/O signal mapped to bit(s): <arg>

Output data area size for the I/O unit is arg bits

Input data area size for the I/O unit is arg bits

Consequences

The physical state of this I/O signal remains NOT VALID.

Recommended actions

1. Check that the unit mapping of the I/O signal is correct.

2. Check that the I/O signal is assigned to the correct I/O unit.

3. Check the system parameters Connection Input/Output size on the

unit type, it is possible to increase those parameters on some unit types.

71363, Slave configuration invalid

Description

The I/O unit <arg> configured on the master address is not valid as an

internal slave.

Recommended actions

1. Change the address on the I/O unit.

2. Change the unit type on the unit to DN_SLAVE.

71364, I/O queue overload

Description

The I/O queue handling input and output I/O signals to and from the

system has been overloaded.

Consequences

The system will go to status SYS STOP.

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Probable causes

This is caused by too frequent signal changes or too large bursts of

signal changes, generated by input I/O signals or cross connections

between I/O signals.

Recommended actions

Check the cross connections. How to check the configuration file is

detailed in the Trouble Shooting Manual.

2. Check the frequency of input I/O signals from any external

equipment connected to the system. Make sure it is not abnormal, and

change if required.

3. If an extremely heavy I/O load is normal and required, investigate

whether programming delays in the RAPID application may solve the

problem.

71365, Safety I/O queue overload

Description

The safety I/O queue handling safety input and output I/O signals has

been overloaded.

Consequences

The system will go to status SYS HALT.

Probable causes

This is caused by too frequent signal changes of safety I/O signals.

Sometimes this may be due to erratic ground connection in I/O signals

from external equipment.

Recommended actions

1. Repeated safety input I/O signals will cause the system to halt.

See the error log for other faults that may cause the condition.

2. Check the grounding of each signal from any external equipment

affecting the safety I/O signals.

3. Check the frequency of input I/O signals from any external

equipment connected to the system. Make sure it is not abnormal, and

change is required.

71366, Cross connection I/O queue overload

Description

The cross connection I/O queue handling input and output I/O signals

to and from the system has been overloaded.

Consequences

The system will go to status SYS STOP.

Probable causes

This is caused by too frequent signal changes or too large bursts of

signal changes, generated by input or output I/O signals being actors

in cross connections.

Recommended actions

Check the cross connections. How to check the configuration file is

detailed in the Trouble Shooting Manual.

2. Check the frequency of input and output I/O signals being actors in

cross connections.

3. If an extremely heavy I/O load is normal and required, investigate

whether programming delays in the RAPID application may solve the

problem.

71367, No communication with I/O unit

Description

During start-up, no communication was established with I/O unit

<arg> on the I/O bus <arg>.

Consequences

It is not possible to access the I/O unit or I/O signals on it, since it is

currently not communicating with the controller. The system will go to

state SYS FAIL, if the I/O unit has been assigned Unit Trustlevel

<Required (0)> in the configuration.

Probable causes

The I/O unit is either not connected to the system, or it is connected,

but has been assigned the wrong address.

Recommended actions

1. Make sure all I/O unit addresses match the configuration.

2. Make sure all addresses are unique, and not used by more than one

I/O unit.

3. Change the address and/or connect the missing I/O unit.

4. If you changed the address, the power supply to the I/O unit must be

cycled (switched OFF and then back ON), to make sure the address has

been changed.

71368, No Interbus option has been installed

Description

A Interbus master/slave board has been fitted, but no Interbus option

has been installed.

Consequences

No communication on the Interbus is possible. There may be

consequential errors from configuring Interbus when no such option

has been installed.

Probable causes

An attempt may have been made to add the Interbus functionality,

without installing the option correctly.

Recommended actions

1. If the Interbus option is required: configure a new system WITH this

option, and install the system.

2. If the Interbus option is NOT required: configure a new system

WITHOUT this option, and install the system.

71377, Dengensha board failure

Description

No contact with Dengensha PCI board.

Consequences

Dengensha Spot Welding will not be available for use.

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Probable causes

-Dengensha board not present in PCI contact.

Recommended actions

1. Install the PCI card into one of the main computers PCI slots.

2. Make sure the PCI card is working.

71378, Failed to access the Dengensha PCI

board.

Description

The Dengensha PCI board has stopped responding.

Consequences

Dengensha Spot Welding will not be available for use.

Probable causes

-The board may have internal software or hardware problems.

Recommended actions

Power off and try again

71379, Unknown communication physical

channel connector

Description

The connector <arg> defined for the physical channel <arg> is

unknown.

Consequences

The physical channel will not be available for use.

Probable causes

-The connector defined in the physical channel configuration may be

misspelt or refers to a connector not available for use.

- Connector configuration is missing.

Recommended actions

1. Make sure the connector defined in the physical channel

configuration is referring to an available connector.

2. Make sure the option Multiple Serial Ports is installed if required by

the used configuration.

3. Reinstall the system to make sure the system configuration files are

OK.

71380, Communication connector driver is

already in use

Description

The connector <arg> cannot use the driver <arg>. The driver is already

in use by connector <arg>.

Consequences

The connector and the physical channel using the connector will not be

available for use.

Probable causes

-The configuration files may have been faulty.

-A configuration file with improperly configured Physical Channels

may have been loaded.

Recommended actions

1. Make sure physical connector configuration is valid.

2. Reinstall the system to make sure the system configuration files are

OK.

71381, Communication connector is already in

use

Description

The physical channel <arg> cannot use connector <arg>. The

connector is already in use by physical channel <arg>.

Consequences

The connector and the physical channel using the connector will not be

available for use.

Probable causes

Several physical channels may have been assigned to the same

connector in the configuration.

Recommended actions

Make sure each connector is used by one physical channel only.

71382, DeviceNet watchdog time has expired

Description

The system has not received any reply from the DeviceNet unit, and

the watchdog timer has timed out.

Consequences

The DeviceNet bus is NOT running, and no communication on the

DeviceNet bus <arg> will be possible. The system goes to status SYS

FAIL. The full meaning of this status is described in the Trouble

Shooting Manual, IRC5.

Probable causes

The I/O load on the DeviceNet bus may be too high, for instance if a

RAPID program is trying to set I/O signals at a rate that exceeds the

bandwidth available on the DeviceNet bus.

Recommended actions

Reduce the I/O load on the DeviceNet bus.

71383, User defined I/O units can't be

connected to the I/O bus <Local>

Description

The I/O configuration for I/O unit <arg> is invalid.

No user-defined unit may be connected to the I/O bus <Local>.

This I/O unit has been rejected.

Recommended actions

Correct the I/O configuration.

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334 3HAC020738-001 Revision: K

71385, Request message resource exhausted

Description

Unable to handle more concurrent IO requests.

Out of concurrent I/O request using delay, pulse, or timeout argument.

Consequences

I/O request cannot be fulfilled.

Probable causes

To many I/O instructions with pulse or delay argument.

To many process instructions with pulse, delay or timeout.

Recommended actions

1. Reduce the number of concurrent I/O instructions with pulse or

delay argument.

2. Reduce the number of concurrent process instructions that use pulse,

delay or timeout argument.

71386, DeviceNet Quick Connect not supported

Description

The unit type <arg> may not be connected to the DeviceNet bus as a

Quick Connect I/O unit.

Consequences

This unit type has been rejected, and no functions depending on this

unit type will work.

Probable causes

The unit connected may be of a too early version.

Recommended actions

1. Disable the Quick Connect configuration parameter.

2. Replace the DeviceNet master/slave board with a later version.

71389, Configuration file error

Description

Errors occurred during loading of configuration data.

All configuration errors are placed in the cfg Event Log.

Consequences

The configuration in file will not be installed.

Recommended actions

View the errors in the cfg Event log.

71390, The DeviceNet bus have recovered from

bus off

Description

The DeviceNet bus <arg> have recovered from bus off state.

71391, System Signal configuration

Description

There was an error during the configuration of a System Input/Output

Signal.

System I/O name: arg

Consequences

The system will go to state SYS FAIL.

Probable causes

All errors during configuration of System Input/Output Signals are

considered fatal and the system will go to state SYS FAIL.

Recommended actions

1. Check the connection of the Unit to which the System Signal is

connected.

2. Check the configuration of the I/O unit.

71392, Invalid output size

Description

On DeviceNet I/O unit <arg> the connection 1 output size <arg> does

not match the I/O unit. When using strobe connection the only valid

output size are 1 or -1.

Recommended actions

1. Change size in configuration.

2. Check module.

3. Use DN_GENERIC unit type.

71393, Error when allocating generic size

Description

Failed to allocate generic arg size (-1) on DeviceNet I/O unit <arg>.

Probable causes

The DeviceNet I/O unit <arg> cannot be configured with unit type

DN_GENERIC or with a generic arg size (-1).

Recommended actions

1. Update your current unit type configuration with new arg size.

2. Do not use DN_GENERIC unit type.

71394, Invalid physical communication channel

Description

The communication channel arg is out of range.

Consequences

The communication channel arg is unavailable.

Probable causes

Option not installed or the communication channel <arg> is out of

range.

Recommended actions

1. Check the allowed minimum and maximum of connectors.

6 Trouble shooting by Event log

3353HAC020738-001 Revision: K

2. Check options required.

71395, No transport protocol

Description

The transport protocol <arg> for channel <arg> is missing.

Consequences

The transport instance <arg> is unavailable.

Probable causes

The option holding the transport protocol <arg> is not installed or the

protocol name is faulty.

Recommended actions

1. Install missing option.

2. Change the transport protocol name.

71396, No transmission protocol

Description

The transport protocol <arg> is missing or the name of the transport

protocol is faulty for <arg>.

Consequences

The application protocol instance <arg> is unavailable.

Probable causes

The option holding the transport is not installed or the application

name is faulty.

Recommended actions

1. Install the option.

2. Change the name of the transport in the configuration.

71397, No application protocol

Description

The application protocol <arg> is missing or the name is faulty.

Consequences

The application instance <arg> is unavailable.

Probable causes

The option holding the application protocol is not installed or the

protocol name is faulty.

Recommended actions

1. Install the option.

2. Change the name of the application protocol.

71398, Communication error from bosv24

Description

No response from the serial line.

Recommended actions

Check the device or connection.

71399, Communication error from bosv24

Description

Not possible to deliver the received message.

Recommended actions

Check the communication flow.

71400, Communication error from bosv24

Description

The response from the device has an invalid frame sequence.

Recommended actions

Check for noise on the serial line.

71401, No option exist for the <arg> Fieldbus

Adapter

Description

A <arg> Fieldbus Adapter has been found, but no option has been

installed.

Consequences

No communication on <arg> Fieldbus Adapter is possible. There

may be consequential errors from configuring when no such option has

been installed.

Probable causes

An attempt may have been made to add the <arg> Fieldbus Adapter

functionality, without installing the option correctly.

Recommended actions

If the <arg> Fieldbus Adapter option is required: configure a new

system with this option, and install the system.

71402, Duplicated address on the arg I/O bus

Description

The arg I/O bus address is duplicated on the network.

Conflicting address <arg>.

Consequences

No communication on the arg I/O bus is possible.

Recommended actions

1. Change the address on the conflicting I/O unit (or physically

disconnect the I/O unit) or change the address for the arg I/O bus.

2. Restart the system.

71403, The interval time is invalid

Description

For the DeviceNet unit type <arg> the connection arg interval time is

invalid.

6 Trouble shooting by Event log

336 3HAC020738-001 Revision: K

Probable causes

The interval time have a lower value than the production inhibit time.

Recommended actions

Change the connection arg interval time to be higher than the

production inhibit time for the unit type <arg> in the I/O configuration.

71404, Invalid input/output size

Description

The I/O unit <arg> have a invalid value (zero) for the input or output

size.

Recommended actions

Change the input/output size to a value greater value then zero.

71405, Duplicate I/O unit mapping

Description

The I/O signal <arg> has the same unit mapping as I/O signal <arg>.

Consequences

Mapping more than one I/O signal against the same bit(s) in the I/O

unit map can cause unpredictable values for these I/O signals since

their order of evaluation cannot be controlled. E.g. if an inverted group

output I/O signal is mapped to the same bits as some digital output I/O

signals, the status of these bits are depending on the order the I/O

signals are set.

Recommended actions

It is highly recommended that mapping of several I/O signals to the

same bit(s) is avoided.

71406, Communication established on

DeviceNet bus

Description

The DeviceNet bus <arg> has established communication.

71407, Route interface not found

Description

The route interface <arg> for I/O bus <arg> is not found in the system.

Consequences

The route is not available. Messages to devices connected to <arg>

will not forwarded.

Probable causes

The I/O bus <arg> not defined or spelled wrong.

Recommended actions

Change the I/O bus identifier.

71408, Route port number out of range

Description

The given port number arg of route <arg> is outside its range.

Consequences

The route is not available. Messages to devices connected to <arg>

will not be forwarded.

Probable causes

The number arg is outside its range.

Recommended actions

Change port number.

71409, Not able to add a port to arg

Description

Not able to define port arg of route <arg> due to lack of resources.

Consequences

The route is not available. Messages to devices connected to port

argarg is not forwared.

Probable causes

The <arg> doesn't support this many ports.

Recommended actions

When possible reduce the number of ports or report the problem to

ABB.

71410, CIP route option not installed

Description

The CIP route option is not enabled since it was not selected at system

creation.

Consequences

Any CIP route definitions will be omitted.

Probable causes

The CIP route option is not installed in the system.

Recommended actions

Create and install a system with the CIP route option.

71411, Out of route resources

Description

Not able to add anymore routes due to no more route resources in the

system.

Consequences

Route <arg> will not be added to the system.

Probable causes

Too many routes have been defined. The system only allows arg

routes.

6 Trouble shooting by Event log

3373HAC020738-001 Revision: K

Recommended actions

Reduce the number of routes.

71412, The DeviceNet bus has regained the bus

power

Description

The DeviceNet bus <arg> has regained the 24 V bus power.

71413, Dengensha option not installed

Description

The Dengensha option has not been correctly installed in the system.

Recommended actions

Reinstall the system using a proper key containing the Dengensha

option.

71414, Concurrent changes of signal value

Description

Concurrent changes of I/O signal <arg> value have been detected.

Consequences

A signal value change of I/O signal <arg> is aborted due to another

value change of the same I/O signal.

Probable causes

The concurrent value change is due to an undesired signal change

sequence in a program. Multiple changes of I/O signal arg might

appear when a I/O signal is pulsed, e.g.

SetDO arg, 0;

PulseDO /High /PLength = 0.01, arg;

WaitTime 0.01;

SetDO arg, 1;

The I/O signal arg will be 1 at the end, but at rare occasions there will

not be any visible pulse. This type of sequence should be avoided.

Recommended actions

Verify that concurrent value changes are desired of I/O signal

<arg>, otherwise modify the signal change sequence.

71415, No bus power

Description

The 24 V power to the DeviceNet Lean bus is missing.

Consequences

No communication on the DeviceNet Lean bus is possible.

Probable causes

The power supply unit, cabling, input voltage to the power supply or

the output load may cause the power loss. See the trouble shooting

section in the manual.

Recommended actions

1. Make sure that the DeviceNet Lean bus contact is connected.

2. Check all cabling to the power supply unit.

3. Measure the output and input voltage levels.

4. Replace the faulty unit if required.

71416, Bus power restored

Description

The 24 V power to the DeviceNet Lean bus is restored.

71417, DeviceNet Lean hardware missing

Description

The DSQC 572 hardware adapter with the DeviceNet Lean bus contact

is missing.

Consequences

No communication on the DeviceNet Lean bus is possible.

Probable causes

DSQC 572 is missing or the cabling between the main computer unit

and DSQC 572 is not inserted.

Recommended actions

1. Check all cabling.

2. Replace the faulty DSQC 572 hardware adapter if required.

71418, Not allowed vendor

Description

The I/O unit <arg> connected to the DeviceNet Lean bus is not

supported. Reported vendor ID was arg, expected arg.

Consequences

No communication to the I/O unit is possible.

Recommended actions

1. Remove the I/O unit from the configuration.

2. Replace the I/O unit with a supported type.

71419, Not allowed unit type

Description

The I/O unit <arg> connected to the DeviceNet Lean bus is not a

supported DeviceNet Lean module type.

Consequences

No communication to the I/O unit is possible.

Recommended actions

1. Remove the I/O unit from the configuration.

2. Replace the I/O unit with a supported I/O unit type.

71420, Wrong unit type

Description

The I/O unit <arg> connected to the DeviceNet Lean bus is not of the

same type as configured.

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338 3HAC020738-001 Revision: K

Reported product code was arg, expected was arg.

Consequences

No communication to the I/O unit is possible.

Recommended actions

Change the I/O unit configuration.

71421, Duplicated address on the DeviceNet

Lean bus

Description

The reserved address arg for the DeviceNet Lean master is occupied

by an another I/O unit on the network.

Recommended actions

1. Change the address on the conflicting I/O unit.

2. Disconnect the I/O unit occupying the masters address from the

network.

71422, High load on the DeviceNet Lean bus

Description

The amount of traffic on the DeviceNet Lean bus is too high, or the

system is too busy to handle all messages on the DeviceNet Lean bus.

Consequences

I/O data might be lost or delayed.

Recommended actions

1. Change the production inhibit parameter on all configured I/O units.

2. Reduce system load.

71423, Minor error on the DeviceNet Lean bus

Description

A minor amount of communication errors have occurred on the

DeviceNet Lean bus.

Consequences

I/O data might be lost or delayed.

Recommended actions

Check all cabling

71424, DeviceNet Lean bus off

Description

A major amount of errors has occurred on the DeviceNet Lean bus.

The bus will try to recover when possible.

Consequences

No data exchange with configured I/O units will be possible.

Recommended actions

Check all cabling

71425, DeviceNet Lean too many I/O units

Description

There are too many I/O units configured on the DeviceNet Lean bus.

The maximum allowed number is arg. The I/O unit <arg> is rejected.

Consequences

No data exchange with I/O unit <arg> will be possible.

Recommended actions

Remove the I/O unit from I/O configuration.

71426, DeviceNet Lean bus regained

Description

The operating mode of the DeviceNet Lean bus has changed to state

running.

Consequences

Data exchange with configured I/O units will be possible.

71427, DeviceNet Lean option key missing

Description

The option key needed to run DeviceNet Lean on the IRC5 controller

was not detected.

Consequences

No communication on I/O bus DeviceNet Lean is possible.

Probable causes

An attempt may have been made to add the DeviceNet Lean

functionality, without installing the option correctly.

Recommended actions

1. Configure a new system with the DeviceNet Lean option, and install

the system.

2. If DeviceNet Lean is not required: configure a new system without

this option, and install that system.

71428, DeviceNet Lean I/O unit configured

Description

A new I/O unit has been found and configured on the DeviceNet Lean

bus.

Unit name: arg

Unit address: arg

Input bytes / Output bytes: arg

Vendor ID: arg

Product code: arg

Recommended actions

1. Restart the IRC5 controller to activate the I/O unit configuration.

2. Edit or delete the configuration.

6 Trouble shooting by Event log

3393HAC020738-001 Revision: K

71429, No configuration in the Profinet PCI

board

Description

There is no bus configuration in the Profinet PCI board.

Recommended actions

Download a configuration to the board using an external software tool.

71430, Incompatible firmware in Profinet board

Description

The current firmware in the Profinet PCI board, version <arg>, is

incompatible with this RobotWare release.

Consequences

No communication on Profinet is possible.

Recommended actions

Download firmware of version <arg> to the Profinet PCI board using

the Firmware Loader in Siemens Step7. Contact ABB support for more

information about how to do that.

71431, Configuration update in progress

Description

No configuration found in the Profinet PCI board or an external

software tool has stopped the Profinet bus.

DO NOT restart the IRC5 controller until the Profinet configuration is

fully downloaded.

Consequences

No connection to I/O units will be possible.

Recommended actions

Use an external software tool to download a configuration and to start

the Profinet bus.

71432, Profinet hardware exception

Description

The Profinet PCI board has reported an internal software exception in

its firmware. The exception occurred before this restart. Follow the

actions steps below to recover from this error state.

Consequences

No connection to I/O units will be possible.

Probable causes

A configuration download from an external Profinet tool might have

been interrupted before it was completed.

Recommended actions

1. Clear all configuration data in the Profinet PCI board using an

external software tool.

2. Reconfigure the Profinet PCI board using an external software tool.

3. Warmtart the IRC5 controller.

71433, No contact with Profinet PCI board

Description

The Profinet PCI board could not be contacted. Error code returned

arg.

Consequences

No connection to I/O units will be possible.

Probable causes

1. The Profinet board is missing or malfunctioning.

2. A new configuration is being downloaded from an external software

tool.

Recommended actions

Make sure the Profinet PCI board is installed in the IRC5 controller.

71434, Profinet bus stopped

Description

A new Profinet configuration has been downloaded using an external

software configuration tool. Since the new configuration has major

changes, the IRC5 controller could not reuse the I/O configuration in

the IRC5 controller. A restart is needed.

Consequences

No connection to I/O units will be possible.

Recommended actions

Restart the IRC5 controller.

71435, Profinet I/O unit not configured

Description

A Profinet I/O unit at address <arg> has generated an alarm. The I/O

unit is configured in the Profinet PCI board, but not in the IRC5

controller.

The I/O unit needs to be configured in the IRC5 controller for the alarm

to be handled.

Consequences

No connection to the I/O unit will be possible.

Recommended actions

1. Add the I/O unit to the IRC5 controller I/O configuration.

2. Remove the configuration in the Profinet PCI board.

71436, Profinet configuration missing

Description

The I/O unit <arg> is configured in the IRC5 controller, but is not

found in the Profinet PCI board configuration.

Consequences

No connection to the I/O unit will be possible.

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340 3HAC020738-001 Revision: K

Recommended actions

1. Add the configuration for the I/O unit in the Profinet PCI board

using an external configuration tool.

2. Remove the I/O unit configuration from the IRC5 controller

configuration.

71437, Profinet internal slave config warning

Description

The Profinet internal slave is configured in the IRC5 controller with

the following modules:

argThe connecting Profinet master have an different module

configuration.

Mismatch detected in slot arg.

Consequences

The connection attempt is rejected.

Recommended actions

1. Reconfigure the connecting Profinet master.

2. Reconfigure the Profinet internal slave in the IRC5 controller.

71438, Profinet internal slave configuration

warning

Description

The Profinet internal slave is configured in the IRC5 controller as a arg

byte input module in slot arg and a arg byte output module in slot arg,

but the connecting Profinet master have a module configure in slot arg.

Consequences

The connection attempt is rejected.

Recommended actions

Reconfigure the connecting Profinet master.

71439, Profinet diagnostics received

Description

The I/O unit <arg> has reported diagnostic data in slot arg.

Use I/O unit specific documentation for more explaination on the

diagnostics data.

Data received:

arg

71440, Profinet configuration mismatch

Description

Profinet-IO routing has been configured using an external Profinet

configuration tool. To be able to use Profinet-IO routing on the IRC5

controller, the Profinet internal slave needs to be configured in the

IRC5 controller.

Consequences

No Profinet-IO routing will be possible.

Recommended actions

1. Add the Profinet internal slave to the I/O configuration.

2. Remove the Profinet-IO routing configuration from the DSQC 678.

71441, Profinet-IO routing warning

Description

Since Profinet-IO routing is configured on I/O unit <arg>, some data

bits might be dependent on the PLC connection status and operating

mode.

If the I/O unit <arg> has I/O signals mapped on digital output bits

controlled by the PLC, these I/O signals can be set by the IRC5

controller, but will not affect the I/O units output values.

Consequences

Some I/O signals might not be handled by the IRC5 controller.

Recommended actions

1. Configure write protection on digital outputs I/O signals mapped

by the IRC5 controller, but controlled by the PLC.

2. Name I/O signals to reflect the fact that they are controlled by the

PLC.

71442, Profinet option key missing

Description

The option needed to run Profinet on the IRC5 controller was not

detected.

Consequences

No communication on Profinet bus is possible.

Probable causes

An attempt may have been made to add the Profinet functionality,

without installing the option correctly.

Recommended actions

1. Configure a new system with the Profinet option, and install the

system.

2. If Profinet is not required, configure a new system without this

option, and install that system.

71443, Too many Profinet internal slaves

Description

There are too many Profinet internal slaves defined in the IRC5

controller.

Consequences

Profinet I/O unit <arg> will not be configured. No communication

with this I/O unit will be possible.

Probable causes

Profinet I/O unit <arg> is defined as an Profinet internal slave while

another Profinet internal slave has already been configured.

Recommended actions

Remove I/O unit <arg> from the configuration.

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3413HAC020738-001 Revision: K

71444, Profinet diagnostics received

Description

The I/O unit <arg> has reported diagnostic data in slot arg.

arg

71445, Profinet PCI board error

Description

The Profinet PCI board could not be found.

Consequences

No connection to I/O units will be possible.

Probable causes

The Profinet PCI board is not installed or a 'reset to factory settings'

command has been performed. The 'reset to factory settings' command

demands another restart of the IRC5 controller in order to be

completed.

Recommended actions

1. Install the Profinet PCI board in the IRC5 controller.

2. Restart the IRC5 controller to perform the 'reset to factory settings'

command.

71446, Profinet configuration mismatch

Description

Configuration mismatch between the Fieldbus Adapter and the

connecting Profinet master in slot arg.

Consequences

The Fieldbus Adapter will indicate a diagnostic error and no

communication will be established between the Fieldbus Adapter and

the connecting Profinet master.

Probable causes

Mismatch of the data type/size in slot arg for the Profinet master

configuration. The expected data type/size is argarg bytes.

Recommended actions

Correct the data type/size in slot arg in the external configuration tool

or change the data size in the IRC5 controller configuration.

NOTE:

In the Profinet master configuration input data shall be in slot 1 and

output data in slot 2.

71447, Profinet internal slave error

Description

The I/O unit <arg> is configured as an internal slave. The unit address

must then be 0, but is configured to arg.

Consequences

The I/O unit <arg> will not be configured.

Recommended actions

Change the unit address to 0.

71448, I/O bus recovered from communication

failure

Description

The I/O bus <arg> has recover from the previous communication

failure.

71449, Too many fieldbus adapters configured

Description

Too many fieldbus adapters configured. It is only allowed to have one

fieldbus adapter configured.

Consequences

The fieldbus adapter <arg> has been rejected, and no functions

depending on it will work.

Recommended actions

1. Remove a fieldbus adapter in the configuration.

2. Restart the system.

71450, EtherNet/IP Master/Slave option not

installed

Description

A EtherNet/IP I/O bus is configured, but the EtherNet/IP Master/Slave

option has not been installed.

Consequences

No communication on the EtherNet/IP is possible. There may be

consequential errors from configuring EtherNet/IP when no such

option has been installed.

Probable causes

An attempt may have been made to add the EtherNet/IP functionality,

without installing the option correctly.

Recommended actions

1. If the EtherNet/IP option is required: configure a new system with

this option, and install the system.

2. If the EtherNet/IP option is not required: configure a new system

without this option, and install the system.

71451, Ethernet extra port option not installed

Description

A EtherNet/IP I/O bus is configured to use the extra Ethernet port, but

the Ethernet extra port option has not been installed.

Consequences

No communication on the EtherNet/IP bus is possible.

Probable causes

An attempt may have been made to add the EtherNet/IP functionality,

without installing the correct option.

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342 3HAC020738-001 Revision: K

Recommended actions

1. If the Ethernet extra port option is required: configure a new system

with this option, and install the system.

2. If the Ethernet extra port option is not required: change the

configuration and restart the system.

71452, Too many EtherNet/IP buses are

configured

Description

Too many EtherNet/IP I/O buses are configured. There is only possibly

to have one I/O bus for EtherNet/IP Master/Slave.

Recommended actions

1. Remove one the EtherNet/IP buses from the configuration.

2. Restart the system.

71453, Wrong identity for a EtherNet/IP I/O unit

Description

Wrong identity for the I/O unit <arg>.

The correct identity is:

Vendor ID <arg>

Device Type <arg>

Product Code <arg>

Consequences

No contact will be established with this I/O unit.

Recommended actions

1. Correct the configuration for the I/O unit type <arg> with the

identity information above.

2. Restart the system.

71454, The argaddress is missing

Description

No IP address is specified for the arg I/O bus.

Consequences

No communication on the arg I/O bus is possible.

Recommended actions

1. Specify a valid IP address in the I/O bus configuration.

2. Restart the system.

71455, EtherNet/IP connection type unknown

Description

The I/O configuration is invalid.

The unit type <arg> has an invalid/unknown connection type <arg>.

The connection type must be one of the following:

- MULTICAST

- POINT2POINT

Consequences

This unit type has been rejected.

Recommended actions

1. Correct the connection type of the unit type.

2. Restart the system.

71456, EtherNet/IP hardware is missing

Description

The DSQC 612 hardware needed for running EtherNet/IP is missing.

Consequences

No communication on the EtherNet/IP bus is possible.

Probable causes

An attempt may have been made to add EtherNet/IP functionality on

the first Ethernet port, without installing the correct hardware.

Note: If you are running MultiMove two DSQC 612 boards are

required, otherwise one board.

Recommended actions

1. Install a DSQC 612 board in the IRC5 controller.

2. Restart the system.

71457, The EtherNet/IP gateway address is

invalid

Description

It is not possible to have the gateway address same as the IP address.

Or the gateway address can not be same as the default destination

<0.0.0.0>.

Consequences

The default IRC5 controller gateway address <arg> will be used and

not the specified gateway address <arg>.

Recommended actions

1. If no physical gateway is used, do not specify any gateway address

in the configuration.

2. Restart the system.

71458, Could not change the default gateway

address

Description

If no destination address is specified in the Ethernet/IP configuration,

the default IRC5 controller gateway address will be changed. The

destination address was not given and the specified gateway address

<arg> was not valid and could not be used..

Consequences

No communication on the EtherNet/IP bus is possible.

Recommended actions

1. Correct the gateway in the EtherNet/IP I/O bus configuration.

2. Restart the system.

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3433HAC020738-001 Revision: K

71459, Illegal address for EtherNet/IP

Description

The address <arg> for the EtherNet/IP bus is illegal.

Consequences

No communication on the EtherNet/IP bus is possible.

Recommended actions

1. Correct the address in the EtherNet/IP bus configuration.

2. Restart the system.

71460, Not able to connect to EtherNet/IP I/O

unit

Description

The configured I/O unit <arg> with address <arg> does not physically

exist on the EtherNet/IP bus.

Consequences

It is not possible to access the I/O unit or I/O signals on it, since it is

currently not communicating with the controller. The system will go to

state SYS FAIL, if the I/O unit has been assigned Unit Trust level

Required (0) in the configuration.

Probable causes

The I/O unit does not exist physically.

The I/O unit address is wrong.

The I/O unit is malfunctioning.

Recommended actions

1. Check if the I/O unit physically exist on the EtherNet/IP bus or if the

address is correct.

2. If the address has been changed, restart the system.

71461, Duplicated address on the EtherNet/IP I/

O bus

Description

The I/O unit <arg> and the EtherNet/IP master have been configured

with the same address in the controller.

Consequences

It is not possible to access the I/O unit or I/O signals on it, since it is

currently not communicating with the controller.

Recommended actions

1. Change the address for the I/O unit <arg> or the address for the

EtherNet/IP master in the configuration. If changing the I/O unit

address and it have this address physically it must also be changed in

the I/O unit.

2. Restart the system.

71462, Illegal subnet mask for EtherNet/IP

Description

The subnet mask <arg> for the EtherNet/IP bus is illegal.

Consequences

No communication on the EtherNet/IP bus is possible.

Recommended actions

1. Correct the subnet mask in the EtherNet/IP bus configuration.

2. Restart the system.

71463, Illegal address for EtherNet/IP bus

Description

The EtherNet/IP address <arg> is reserved.

Consequences

No communication on the EtherNet/IP bus is possible.

Probable causes

The specified address is on a subnet reserved by another Ethernet port.

Two Ethernet ports on the IRC5 controller can not be on the same

subnet.

Example:

EtherNet/IP port: 192.168.125.x

Service port: 192.168.125.x

Note:

The subnets within the range 192.168.125.xxx - 192.168.130.xxx are

predefined and can not be used.

Recommended actions

1. Change the address to another subnet.

2. Restart the system.

71464, Could not add a new gateway for

EtherNet/IP

Description

Could not add the gateway address <arg> with the destination address

<arg> for EtherNet/IP.

Consequences

No communication on the EtherNet/IP bus is possible.

Probable causes

1. The gateway address or the destination address are invalid.

2. No destination address have been specified.

Recommended actions

1. Correct the gateway address or the destination address in the

EtherNet/IP bus configuration.

2. Restart the system.

71465, DeviceNet Lean error response

Description

The I/O unit <arg> has reported an error response.

General Error Code arg.

Additional Code arg

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Recommended actions

1. Read about the General Error Code in the DeviceNet specification

Appendix H.

2. The I/O unit might be occupied by another master.

3. Cycle the power of the I/O unit.

71466, Profinet configuration failed

Description

The configuration file <arg> was not accepted by the DSQC 678.

Error code returned arg.

Consequences

No new configuration will be stored in the DSQC 678.

Recommended actions

Make sure that the correct filetype is used.

71467, Profinet configuration file missing

Description

The configuration file <arg> was not found.

Consequences

No new configuration will be stored in the DSQC 678.

Recommended actions

1. Make sure the file exists.

2. Make sure that the configuration file is placed in the HOME

directory of your current system.

71468, Profinet board DSQC 678 upgraded

Description

The Profinet board DSQC 678 have been upgraded to a new firmware

with version <arg>

Consequences

The new firmware might affect some of the configuration parameters

or other communication behaviour.

Recommended actions

1. Make sure that no configuration changes are needed for connecting

controllers.

2. Make sure that current Step 7 configuration in the DSQC 678 is

compatible with the new firmware.

71469, Max number of internal I/O signals

exceeded

Description

The I/O configuration is invalid.

The maximum number, arg, of internal I/O signals in the I/O system

has been exceeded.

Recommended actions

Modify the configuration of the I/O system (by reducing the number of

I/O signals specfied in the additional option configuration) so that the

maximum limit is not exceeded.

71470, Wrong unit type

Description

The I/O unit <arg> connected to the DeviceNet Lean bus is not of the

same type as configured.

Reported vendor ID was arg, expected was arg.

Consequences

No communication to the I/O unit is possible.

Recommended actions

Change the I/O unit configuration.

71471, Duplicated address on DeviceNet Lean

bus

Description

The I/O unit <arg> and the DeviceNet Lean master is configured with

the same address.

Consequences

The I/O unit <arg> has been rejected.

Recommended actions

1. Change address for I/O unit <arg> or the DeviceNet Lean master.

71472, Fieldbus command error

Description

Could not send fieldbus command to I/O unit <arg> because there is a

syntax error in the command path string.

Fieldbus command type name <arg>.

Additional info:

arg

Consequences

The fieldbus command was not sent.

Recommended actions

1. Correct the fieldbus command path string.

71473, DeviceNet Lean bus scan result

Description

Address: Product: Vendor ID: Product code:

arg

80001, arg

Description

arg

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arg

Recommended actions

80002, arg

Description

arg

Recommended actions

80003, arg

Description

arg

Recommended actions

Description

10,

Description

110001, Process Supervision Phase PRE

Description

Task: arg

Supervision failed for process phase PRE.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110002, Process Supervision Phase

PRE_START

Description

Task: arg

Supervision failed for process phase PRE_START.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110003, Process Supervision Phase START

Description

Task: arg

Supervision failed for process phase START.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110004, Process Supervision Phase MAIN

Description

Task: arg

Supervision failed for process phase MAIN.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110005, Process Supervision Phase END_MAIN

Description

Task: arg

Supervision failed for process phase END_MAIN.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

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110006, Process Supervision Phase POST1

Description

Task: arg

Supervision failed for process phase POST1.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110007, Process Supervision Phase

END_POST1

Description

Task: arg

Supervision failed for process phase END_POST1.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110008, Process Supervision Phase POST2

Description

Task: arg

Supervision failed for process phase POST2.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110009, Process Supervision Phase

END_POST2

Description

Task: arg

Supervision failed for process phase END_POST2.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110012, Movement start timeout

Description

Task: arg

Time (arg second(s)) between start of process and Robot movement is

too long.

Recommended actions

Check your process equipment.

110013, Application process interrupted

Description

Task: arg

The application process was not terminated properly.

arg

Consequences

Eventual post-motion phases were not executed.

Probable causes

1. Logical RAPID instructions in a sequence of application movement

instructions consuming too much execution time.

2. The last instruction in the sequence of application movement

instructions, that does not indicate the sequence end.

3. A process error occurred too close to the endpoint of the process: a

process restart is not performed.

Recommended actions

Remove the logical instructions, that cause the delay,

check, that the last application movement instruction indicates, that it

is the last one.

110014, Option 'Optical Tracking' or 'Weldguide'

is missing

Description

Task: arg

The optional argument '\Track' may not be used without the option

'Optical Tracking' or 'Weldguide'.

arg

Recommended actions

Remove the optional argument '\Track'

Order a RobotWare key that, depending on your equipment, contains

the option 'Optical Tracking' or 'Weldguide'.

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110015, Option Path Offset is missing

Description

Task: arg

The switch '\Corr' may not be used without the option Path Offset.

arg

Recommended actions

Remove the switch '\Corr'

Order a RobotWare key, that contains the option 'Path Offset'.

110016, Unsafe flying end

Description

Program execution has proceeded to the next RAPID instruction

before the application process finished.

Consequences

If a process error occurs, the application process will be stopped on the

fly, but the robot movement will not be stopped.

Probable causes

The zone size and the fly_end distance of the flying end instruction do

not fit together.

Recommended actions

Increase fly_end distance or decrease the zone size of the instruction

with flying end.

110020, Supervision limit

Description

Task: arg

The maximum number of signals to be supervised (max. 32) has been

exceeded in one of the supervision phases.

arg

Recommended actions

Remove signals from supervision for phase arg in order to meet the

limit of 32.

110021, Unknown supervision list

Description

Task: arg

The Supervision list type arg is unknown.

arg

Consequences

Supervision is not set up or removed.

Recommended actions

Change the supervision list type.

110025, No active CAP process

Description

Task: arg

There is no active CAP process for this instruction.

arg

Recommended actions

Verify that arg is used according to documentation.

110030, Invalid ICap Event

Description

Task: arg

arg is invalid as event for the instruction ICap.

arg

Recommended actions

Use one of the valid ICap events described in the reference manual for

CAP.

110032, No TRAP routine for CAP_STOP

Description

Task: arg

CAP requires a RAPID TRAP routine to be defined for the event

CAP_STOP.

This is necessary as to stop external equipment when RAPID

execution stops.

arg

Recommended actions

Add a TRAP routine for CAP_STOP in your RAPID code.

110034, Skip without process finished

Description

The robot has reached the end of the distance it was requested to move

without active application process.

Recommended actions

Recovery:

You might want to handle errno arg in your error handler

110040, Process Supervision Phase END_PRE

Description

Task: arg

Supervision failed for process phase END_PRE.

arg

Recommended actions

Check the signal(s) that failed:

arg

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Recovery:

You might want to handle errno arg in your error handler

110041, Process Supervision Phase

START_POST1

Description

Task: arg

Supervision failed for process phase START_POST1.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110042, Process Supervision Phase

START_POST2

Description

Task: arg

Supervision failed for process phase START_POST2.

arg

Recommended actions

Check the signal(s) that failed:

arg

Recovery:

You might want to handle errno arg in your error handler

110100, Fatal process error

Description

Task: arg

A fatal process error has been reported. Check previous error messages

for more information about the reason of the error.

Recommended actions

A restart of the system or move of program pointer is highly

recommended.

110101, Invalid weave shape

Description

Task: arg

The weave shape used is invalid:

[No shape = 0, Zig-zag shape = 1, V-shape = 2, Triangular shape = 3]

Recommended actions

Correct the shape component.

110102, Invalid weave length

Description

Task: arg

The weave length used is invalid:

(0 - 1) [m]

Recommended actions

Correct the component length.

110103, Invalid weave cycle time

Description

Task: arg

The weave cycle time used is invalid:

(0 - 100) [s]

Recommended actions

Correct the component cycle_time.

110104, Invalid weave width

Description

Task: arg

The weave width used is invalid:

(0 - 1) [m]

Recommended actions

Correct the component width.

110105, Invalid weave height

Description

Task: arg

The weave height used is invalid:

(0 - 1) [m]

Recommended actions

Correct the component height

110106, Invalid weave dwell left

Description

Task: arg

The weave dwell_left used is invalid:

(0 - 1) [m]

Recommended actions

Correct the component dwell_left

110107, Invalid weave dwell center

Description

Task: arg

The weave dwell_center used is invalid:

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(0 - 1) [m]

Recommended actions

Correct the component dwell_center

110108, Invalid weave dwell right

Description

Task: arg

The weave dwell_right used is invalid:

(0 - 1) [m]

Recommended actions

Correct the component dwell_right

110109, Invalid weave bias

Description

Task: arg

The weave bias used is invalid:

(-1 - 1) [m]

Recommended actions

Correct the component bias

110110, Invalid weave direction angle

Description

Task: arg

The weave direction angle used is invalid:

(-PI/2 - PI/2) [rad]

Recommended actions

Correct the component dir

110111, Invalid weave tilt angle

Description

Task: arg

The weave tilt angle used is invalid:

(-PI/2 - PI/2) [rad]

Recommended actions

Correct the component tilt

110112, Invalid weave rotation angle

Description

Task: arg

The weave rotation angle used is invalid:

(-PI/2 - PI/2) [rad]

Recommended actions

Correct the component rot

110113, Invalid horizontal weave offset

Description

Task: arg

The horizontal weave offset is invalid:

110114, Invalid vertical weave offset

Description

Task: arg

The vertical weave offset is invalid:

110115, Invalid weave sync left

Description

Task: arg

The weave sync left value is invalid:

(0 - 100) [%]

Recommended actions

Correct the component ptrn_sync_left in capweavedata.

110116, Invalid weave sync right

Description

Task: arg

The weave sync right value is invalid:

(0 - 100) [%]

Recommended actions

Correct the component ptrn_sync_right in capweavedata.

110117, Weave bias not allowed

Description

Task: arg

It is not allowed to use bias for shapes other than Zig-zag (=1).

Recommended actions

Correct the components 'bias' and/or 'shape' in capweavedata.

110118, Weave bias too big

Description

Task: arg

It is not allowed to use a bias that is bigger than half the width.

Recommended actions

Correct the components 'bias' and/or 'width' in capweavedata.

110119, Weave dwell too big

Description

Task: arg

It is not allowed to use a dwell that is bigger than the length.

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The ramp slope (amplitude/length) is limited.

Recommended actions

Correct the components 'dwell_right/center/left' and/or 'length' in

capweavedata.

110120, Weave bias change too big

Description

Task: arg

The weave bias change is bigger than allowed.

Max arg [m]

Recommended actions

Adjust weave tuning increment for bias, and/or check that the change

of the bias is less than the maximum.

110121, Weave width tuning error

Description

Task: arg

The weave width change is bigger than allowed.

Max arg [m]

Recommended actions

Adjust weave tuning increment for width, and/or check that the change

of the width is less than the maximum.

110122, Weave height tuning error

Description

Task: arg

The weave height change is bigger than allowed.

Max arg [m]

Recommended actions

Adjust weave height tuning increment, and/or check that the change of

the height is less than the maximum.

110130, Signal not defined

Description

Task: arg

The signal arg is not defined.

arg

Recommended actions

Define the signal arg in eio.cfg

110131, No Signal specified

Description

Task: arg

No signal specified!

arg

Recommended actions

Specify a DI signal

110132, An internal error occurred

Description

Task: arg

arg

Recommended actions

Check the 'Internal' Log.

110160, Track error

Description

Task: arg

Track error.

arg

Recommended actions

Check joint definition.

Recovery: arg

110161, Track start error

Description

Task: arg

Track start error.

arg

Recommended actions

Check joint definition in captrackdata.

Recovery: arg

110162, Track max path corr error

Description

Task: arg

Track max path corr error.

arg

Recommended actions

Check joint definition and max_corr in captrackdata.

Recovery: arg

110163, Track communication error

Description

Task: arg

No communication between sensor and controller.

Recommended actions

Check the hardware

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110164, Track correction lost

Description

Task: arg

Track lost due to power fail.

arg

Recommended actions

Move PP to main, or step through the rest of the CAP sequence.

110165, No Sensor Measurement

Description

Task: arg

No sensor measurement available.

arg

110166, Sensor Not ready yet

Description

Task: arg

The sensor is not ready.

arg

110167, General error from sensor

Description

Task: arg

General sensor error.

arg

110168, Sensor busy

Description

Task: arg

The sensor is busy.

arg

110169, Unknown command to sensor

Description

Task: arg

Some for the sensor unknown command was sent.

arg

110170, Illegal variable or block number in

sensor

Description

Task: arg

The variable number or block number is unknown to the sensor.

arg

110171, External alarm from sensor

Description

Task: arg

An external sensor alarm occurred.

arg

110172, Camera alarm from sensor

Description

Task: arg

The sensor camera sent an alarm.

arg

110173, Temperature alarm from sensor

Description

Task: arg

The sensor temperature is out of admitted bounds.

arg

110174, Value to sensor out of range

Description

Task: arg

The value sent to the sensor is out of bounds.

arg

110175, Camera check failed

Description

Task: arg

It was not possible to perform a sensor camera check.

arg

110176, Sensor communication time out

Description

Task: arg

Timeout occured in communication with the sensor.

arg

110177, Tracker calibration error

Description

Task: arg

Sensor: arg

It was not possible to perform a valid tracker calibration.

Consequences

The sensor arg is not calibrated, thus should not be used for tracking.

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Probable causes

The average calibration precisions obtained in the x-, y-, z- directions

of the sensor tool are: arg. The desired ones are: arg.

Recommended actions

Verify that the calibration plate has not been moved. Check the sensor

settings. Start LTC to run a manual calibration setup followed by a new

calibration.

110178, Tracker verification error

Description

Task: arg

Sensor: arg

It was not possible to perform a valid tracker calibration verification.

Consequences

The sensor arg does not meet the calibration precision and will

therefore be unreliable for tracking.

Probable causes

The average verification precisions obtained in the x-, y-, z- directions

of the sensor tool are: arg. The desired ones are: arg.

Recommended actions

Start LTC to run a manual verification with a different number of

measurements. If problems persist, run a new manual calibration from

LTC.

110179, Left lap joint definition not correct

Description

Task: arg

Sensor: arg

The definition of the left joint (number arg) is not correct.

Consequences

It will not be possible to perform a sensor calibration.

Probable causes

The measure obtained in the y-direction of the sensor tool on the left

lap-joint is : arg mm. The value should be positive.

Recommended actions

Check the left-lap joint definition (arg) in the sensor's (arg)PC

interface. Possibly switch between the right and left lap-joint

definitions.

110180, Sensor Calibration Data updated

Description

The sensor calibration data for arg (arg and arg) are updated.

Task: arg

Recommended actions

If you use CAP without RW Arc, you have to rerun the RAPID

instruction

CapLATRSetup arg,arg,arg\SensorFreq:=xxx;

to make CAP use the updated sensor calibration data.

110203, Application error

Description

Task: arg

The maximum program number, 'DA_PROG_MAX' is above the num

data type limit.

Current value: arg

Consequences

The maximum configured program number will not be set.

Probable causes

The specified program number arg is above the maximum integer

value for the num data type, max value 8388608.

Recommended actions

Check the program.

110204, Application error

Description

Task: arg

Any return code other than DAOK is rejected from arg

Recommended actions

110205, Application error

Description

Task: arg

Forward sequence jumping is not allowed.

Recommended actions

Check the program sequence.

110206, Application error

Description

Task: arg

Missing I/O-signal arg.

Recommended actions

Check the I/O configuration.

110207, Application error

Description

Task: arg

Process number arg of application arg was already installed.

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Recommended actions

110208, Application error

Description

Task: arg

Number arg is not a valid start number.

Recommended actions

110209, Application error

Description

Task: arg

The user hook arg is not a valid sequence entry.

Recommended actions

Check the program sequence.

110210, Application error

Description

Task: arg

The program number arg is above the num data type limit.

Consequences

The program number will not be set.

Probable causes

The specified program number arg is above the maximum integer

value for the num data type, max value 8388608.

Recommended actions

Check the program.

110211, Application error

Description

Task: arg

The instruction arg reported a fatal error.

Recommended actions

110212, Application error

Description

Task: arg

arg tried to use a non existent process descriptor.

A fatal error in damastr class.

arg

Probable causes

The XXShPowerOn has not been executed.

Recommended actions

Check if XXShPowerOn was done.

110214, Application error

Description

Task: arg

arg tried to use a non existent application descriptor.

arg

Probable causes

The XXShPowerOn has not been executed, or to few DA_PROC task

are specified.

Recommended actions

Check if XXShPowerOn was done.

If using only DAP you should save a sys.cfg, and add a new

DA_PROCX task in that file. Check what files are loaded for

DA_PROC1 task and add them to your new task.

110216, Application error

Description

Task: arg

Attempt to install a process number

outside it's limits.

arg

Recommended actions

Check the program, max number of processes are limited to 4.

110220, Application error

Description

Task: arg

The user data variable choice does not exist.

arg

110221, Application error

Description

Task: arg

The user data variable has incorrect type.

arg

110222, Application error

Description

Task: arg

The internal process data type lacks daintdata as first element.

arg

Recommended actions

Check the program.

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110223, Application error

Description

Task: arg

The user data type definitions exceed the maximum data storage size.

arg

Recommended actions

Check the program.

110224, Application error

Description

Task: arg

The user data type definitions does not correspond to what was

defined.

arg

110226, Application error

Description

Task: arg

An error occurred while attempting to reload the Power Failure area.

An automatic restart of the processes will not be possible.

arg

110229, Application error

Description

Task arg :

Error from arg . The data type definitions exceed the maximum data

storage size.

arg

Recommended actions

Check the data size.

110230, Application error

Description

Task arg :

Not possible to execute instruction in motors off state for servo tool arg

Recommended actions

Retry after setting motors on.

110300, Parameter error

Description

Task: arg

The max string length of the parameter arg is 5 characters.

Current used name is arg.

See specification in arg.

arg

Recommended actions

Check the length of the string data value.

110302, Parameter error

Description

Task: arg

The specified signal arg in the instruction arg has no reference.

arg

Recommended actions

Check the EIO configuration.

110303, Parameter error

Description

Task: arg

The optional signals \arg and \arg must be used together.

See specification in arg.

arg

Recommended actions

Check the program.

110304, Parameter error

Description

Task: arg

The parameter arg of the instruction arg is not an array.

arg

Recommended actions

Check the data definition.

110305, Parameter error

Description

Task: arg

The dimension of the data array arg is to big.

See specification in arg.

arg

Recommended actions

Check the data declaration.

110306, Parameter error

Description

Task: arg

The array arg of the instruction arg is not right defined.

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arg

Recommended actions

Check the data against the specification.

110307, Parameter error

Description

Task: arg

The event time array element arg.arg is less than 0.

See specification in arg.

arg

Recommended actions

Check the time event data.

110308, Parameter error

Description

Task: arg

The data selector arg in the instruction arg is not valid.

arg

Recommended actions

Check the selector against the specification.

110309, Parameter error

Description

Task: arg

The selector arg in the instruction arg is not valid.

arg

Recommended actions

Check the selector against the specification.

110310, Parameter error

Description

Task: arg

The selector arg in the instruction arg is not valid.

arg

Recommended actions

Check the selector against the specification.

110311, No Spot task

Description

Task: arg

No motion task is configured for Spot.

arg

Probable causes

Check the configuration

110312, Wrong number of DAPROC tasks

Description

Task: arg

Error from arg. arg DA_PROC task(s) are configured in the system.

Number of daprocs must be in the interval 1 - arg.

arg

Recommended actions

Check the configuration.

110313, Not possible to activate/deactivate

Description

Task: arg

Error in arg. This daproc is not possible to activate/deactivate.

arg

Recommended actions

Check index in the daproc descriptor.

110401, Gas supervision

Description

Task:arg

arg

Gas supervision signal not set at start of welding.

Recommended actions

Check the gas equipment.

Recovery: You might want to handle errno arg in your error handler.

110402, Water supervision

Description

Task: arg

arg

Water supervision signal not set at start of welding.

Recommended actions

Check the water cooling equipment.

Recovery: You might want to handle errno arg in your error handler.

110403, Arc supervision

Description

Task: arg

arg

Arc ignition supervision signal not set at start of welding.

Recommended actions

Check the power source.

Recovery: You might want to handle errno arg in your error handler.

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110404, Voltage supervision

Description

Task: arg

arg

Voltage supervision signal not set at start of welding.

Recommended actions

Check the power source.

Recovery: You might want to handle errno arg in your error handler.

110405, Current supervision

Description

Task: arg

arg

Current supervision signal not set at start of welding.

Recommended actions

Check the power source.

Recovery: You might want to handle errno arg in your error handler.

110406, Wirefeed supervision

Description

Task: arg

arg

Wirefeed supervision signal not set at start of welding.

Recommended actions

Check the wirefeed unit.

Recovery: You might want to handle errno arg in your error handler.

110407, Wirestick supervision

Description

Task: arg

arg

Wirestick supervision signal set at start of welding.

Recommended actions

Check, if the wire got stuck at the object.

Recovery: You might want to handle errno arg in your error handler.

110408, Arc ignition failed

Description

Task: arg

arg

Arc ignition failed at start of welding.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110409, Schedule strobe undefined

Description

Task: arg

arg

Schedule strobe undefined.

Recommended actions

Define a weld schedule strobe input.

Recovery: You might want to handle errno arg in your error handler.

110410, Schedule transfer error

Description

Task: arg

arg

It was not possible to transfer the schedule.

Probable causes

The schedule port was busy with previous transfer.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110411, Process stopped

Description

Task: arg

arg

Process was stopped by the digital input 'stop process'.

Recommended actions

Check the digital input 'stop process'.

Recovery: You might want to handle errno arg in your error handler.

110412, Arc fill ignition failed

Description

Task: arg

arg

Arc fill ignition failed.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110413, Torch supervision

Description

Task: arg

arg

Torch supervision signal went low during welding.

Recommended actions

Check the welding equipment.

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Recovery: You might want to handle errno arg in your error handler.

110414, Weld supervision

Description

Task: arg

arg

Weld ignition supervision signal not set at start of welding.

Recommended actions

Check the power source.

Recovery: You might want to handle errno arg in your error handler.

110415, Weld Off Supervision timeout

Description

Task: arg

arg

The ArcEst signal was not reset at the end of the weld within the

specified time. (arg seconds)

Recommended actions

Check the welding equipment and/or adjust the Weld Off timeout

value,

found in Arc Equipment Properties.

110416, Weld Off Supervision timeout

Description

Task: arg

arg

The WeldOK signal was not reset at the end of the weld within the

specified time.

(arg seconds)

Recommended actions

Check the welding equipment and/or adjust the Weld Off timeout

value,

found in Arc Equipment Properties.

110421, Gas supervision

Description

Task: arg

arg

Gas supervision signal went low during welding.

Seam name: arg.

Time from weld start: arg min.

Recommended actions

Check the gas equipment.

Recovery: You might want to handle errno arg in your error handler.

110422, Water supervision

Description

Task: arg

arg

Water supervision signal went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the cooling water equipment.

Recovery: You might want to handle errno arg in your error handler.

110423, Arc supervision

Description

Task: arg

arg

Arc supervision signal went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110424, Voltage supervision

Description

Task: arg

arg

Voltage supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110425, Current supervision

Description

Task: arg

arg

Current supervision signal went low during welding.

Seam name: arg

Time from weld start: arg

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

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358 3HAC020738-001 Revision: K

110426, Wirefeed supervision

Description

Task: arg

arg

Wirefeed supervision signal went low during welding.

Seam name: arg

Time from weld start: arg

Recommended actions

Check the wirefeed unit.

Recovery: You might want to handle errno arg in your error handler.

110427, Process stopped

Description

Task: arg

arg

Process was stopped during welding by the digital input 'stop process'.

Seam name: arg

Time from weld start: arg

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110428, Torch supervision

Description

Task: arg

arg

Torch supervision signal went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110429, Arc ignition failed

Description

Task: arg

arg

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110430, Arc fill ignition failed

Description

Task: arg

arg

Arc ignition failed during crater fill.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110431, Weld supervision

Description

Task: arg

arg

Weld supervision signal went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment.

Recovery: You might want to handle errno arg in your error handler.

110432, Arc ignition failed

Description

Task: arg

arg

Seam name: arg.

Time from weld start: arg.

Recommended actions

Check the welding equipment. Signal WeldOK.

Recovery: You might want to handle errno arg in your error handler.

110433, Arc fill ignition failed

Description

Task: arg

arg

Arc ignition failed with signal WeldOk during crater fill.

Seam name: arg.

Time from weld start: arg.

110435, User defined signal supervision

Description

Task: arg

arg

User defined signal defined by USERIO1 went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

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110436, User defined signal supervision

Description

Task: arg

arg

User defined signal defined by USERIO2 went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110437, User defined signal supervision

Description

Task: arg

arg

User defined signal defined by USERIO3 went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110438, User defined signal supervision

Description

Task: arg

arg

User defined signal defined by USERIO4 went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110439, User defined signal supervision

Description

Task: arg

arg

User defined signal defined by USERIO5 went low during welding.

Seam name: arg.

Time from weld start: arg.

Recommended actions

Recovery: You might want to handle errno arg in your error handler.

110440, User defined signal supervision

Description

Task: arg

User defined signal arg defined by USERIO1 went low during

welding.

110441, User defined signal supervision

Description

Task: arg

User defined signal arg defined by USERIO2 went low during

welding.

110442, User defined signal supervision

Description

Task: arg

User defined signal arg defined by USERIO3 went low during

welding.

110443, User defined signal supervision

Description

Task: arg

User defined signal arg defined by USERIO4 went low during

welding.

110444, User defined signal supervision

Description

Task: arg

User defined signal arg defined by USERIO5 went low during

welding.

110445, Gas supervision

Description

Task: arg

arg

Gas supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110446, Water supervision

Description

Task: arg

arg

Water supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110447, Arc supervision

Description

Task: arg

arg

Arc supervision signal went low during welding.

Seam name: arg

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360 3HAC020738-001 Revision: K

Time from weld start: arg.

110448, Voltage supervision

Description

Task: arg

arg

Voltage supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110449, Current supervision

Description

Task: arg

arg

Current supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110450, Wirefeed supervision

Description

Task: arg

arg

Wirefeed supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110451, Torch supervision

Description

Task: arg

arg

Torch supervision signal went low during welding.

Seam name: arg

Time from weld start: arg.

110460, Weld Error Recovery

Description

PROC Parameters was loaded by arg

Configuration of Weld Error Recovery is Complete.

110461, Weld Error Recovery

Description

PROC Parameters for Weld Error Recovery could not be loaded in task

arg

110462, Weld Error Recovery

Description

Robot arg moved from error location.

Robot will attempt to move back to the error location.

110463, Weld Error Recovery Failed

Description

Incorrect Weld Error Recovery Usage.

A user-defined service routine must return the robot to within 50mm

of breakpoint.

Recommended actions

Re-program your service routine.

110464, EquipmentClass Error

Description

Task: arg

The Specified EquipmentClass arg could not be unloaded.

110465, EquipmentClass Error

Description

Task: arg

The Specified EquipmentClass arg could not be found at path:

arg

110466, RW Arc Installation

Description

Weld System arg (of arg installed) started in task arg

Active EquipmentClass arg

Status OK

110467, RW Arc Installation

Description

Deactivation and Unload of EquipmentClass arg failed.

110468, RW Arc Installation

Description

Weld System arg deactivated in task arg

Status OK

110469, RW Arc Installation

Description

Load and Init of EquipmentClass arg failed.

6 Trouble shooting by Event log

3613HAC020738-001 Revision: K

110470, Configuration Parameter Error

Description

Task: arg

PROC Configuration Parameter argarg

could not be found in cfg database.

Recommended actions

Check the installation of PROC domain parameters.

110471, Undefined Signal Error

Description

arg

Failing signal during weld phase arg could not be determined.

110472, Configuration Parameter Error

Description

Task: arg

PROC Configuration Parameter argarg

is a required parameter.

Recommended actions

Check the installation of PROC domain parameters.

110473, Weld Equipment Error

Description

Task: arg

arg

Error: arg

(format: ErrorCode ErrorText)

Recommended actions

Check the Power Source.

110474, RW Arc EIO signal error

Description

There is no communication with signal arg on unit arg.

Consequences

Welding will not be possible without communication with this EIO

unit.

Recommended actions

Check the communication link with the EIO unit.

110475, Calibration variable missing

Description

Task: arg

No Calibration variable is specified in Arc Sensor Properties.

Default calibration data is used. arg=arg

Consequences

Calibration data is needed for optimal sensor performance.

110476, Calibration variable error

Description

Task: arg

The specified Calibration variable arg in in Arc Sensor Properties

could not be found in any loaded RAPID modules.

Default calibration data is used. arg=arg

Consequences

Calibration data is needed for optimal sensor performance.

Recommended actions

Check variable name in Arc Sensor Properties and make sure that the

Sensor Calibration program is loaded.

110477, Device name mismatch

Description

Task: arg

Device name arg in in Arc Sensor Properties and Communication

settings does not match.

Consequences

The same device name must be specified in both Arc Sensor Properties

and Communication settings for the sensor to work properly.

110478, Process stop due to WDM Stability

error

Description

Task: arg

arg

Consequences

RW Arc has stopped the welding process due to a Weld Data Monitor

stability infraction.

Recommended actions

See Weld Data Monitor elog for more information.

110479, Process stop due to WDM Signature

error

Description

Task: arg

arg

Consequences

RW Arc has stopped the welding process due to a Weld Data Monitor

signature infraction.

Recommended actions

See Weld Data Monitor elog for more information.

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110480, Arc Welding Task Busy

Description

Task: arg

arg

Serious File System problem encountered.

Recommended actions

The Controller must be warmstarted to solve the problem.

110481, System Retry limit

Description

Task: arg

arg

Max number of retries has been reached on system level.

System Misc, NoOfRetry=arg

Recommended actions

Increase parameter value to avoid reaching the limit.

110482, Sensor calibration data updated

Description

Sensor calibration data updated in task: arg

Active calibration data: arg=arg

110490, Weld Error Recovery IO Error

Description

Task: arg

arg

The breakout input was left on. The external device must reset the

signal.

The Weld Error Recovery IO interface is disabled. Respond to

FlexPendant.

110491, Weld Error Recovery IO Error

Description

Task: arg

arg

Invalid response arg supplied on signal agiWER_Response.

Valid range: (arg)

Request has been changed to Abort.

110492, Weld Error Recovery IO Error

Description

Task: arg

arg

Escape option is not available. Request has been changed to MoveOut.

110493, Weld Error Recovery IO Error

Description

Task: arg

arg

System is waiting for the diWERAck input to go low.

110494, Weld Error Recovery IO Error

Description

Task: arg

arg

Supplied value on giWER_Response (arg) is not within range: (arg)

Request has been changed to: arg

110495, Weld Error Recovery IO Interface

Description

Task: arg

The Weld Error Recovery IO Interface is successfully configured for

arg

and is ready for use.

110500, Track error

Description

Task: arg

arg

The robot controller has been asking 'blindcount'(trackdata) times for

correction data from the sensor, but did not get any.

Recommended actions

Check sensor setup and trackdata. Recovery: You might want to handle

errno arg in your error handler.

110501, Track start error

Description

Task: arg

arg

Not any valid correction data from the sensor while executing the

current ArcX instruction.

Recommended actions

Check sensor setup and trackdata. Recovery: You might want to handle

errno arg in your error handler.

110502, Track correction error

Description

Task: arg

arg

The correction is too big.

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3633HAC020738-001 Revision: K

Recommended actions

1. Check that the seam definitions in the program reflect the actual

seams. 2. Increase 'max_corr' in 'trackdata'. Recovery: You might want

to handle errno arg in your error handler.

110503, Illegal arcflydata specified

Description

Task: arg

arg

The value of parameter arg in arcflydata is arg

Consequences

Flying arg will not work correctly with this value.

Recommended actions

Increase the value of arg in arcflydata to a value greater than zero.

110504, Illegal flydata combination

Description

Task: arg

arg

Flying arg is not possible with finepoint.

Consequences

There will be no flying arg

Recommended actions

Change to zonepoint in ArcXarg instruction.

110505, Illegal zonepoint specified

Description

Task: arg

arg

A zonepoint is used in the weld arg instruction without any optional

arcflydata in the instruction.

Consequences

The zonepoint will be converted to a finepoint.

Recommended actions

Add the optional argument arcflydata to the ArcXarg instruction if

flying arg is wanted.

110506, Illegal arcflydata combination

Description

Task: arg

arg

The arcflydata parameter arg has a value which is greater than the

value of parameter arg.

Consequences

The value of arg will be reduced to the value of arg.

Recommended actions

Reduce the value of parameter arg so that the value is lower than or

equal to the value of parameter arg.

110507, RW Arc EIO signal error

Description

Task: arg

arg

The value of arg for signal arg is below its minimum logical value

(arg)

Consequences

The value of signal arg will be set to the minimum value arg.

Recommended actions

Check the values of arg components in seamdata and welddata.

Change the value or change the min logical parameter for signal arg to

avoid this message.

110508, Wirestick supervision

Description

Task: arg

arg

Wirestick supervision signal set at end of welding.

Recommended actions

Check, if the wire got stuck at the object.

Recovery: You might want to handle errno arg in your errorhandler.

110601, Spot application invalid data error

Description

Task:arg

The number of configured guns in 'SW_NOF_GUNS' are less than

one(1).

Current value is arg.

Consequences

It will not be possible to run any spot instructions.

Probable causes

1. The setup data 'SW_NOF_GUNS' has been assigned a value less

than 1.

2. The user module swdefusr.sys has not been loaded correctly.

Recommended actions

1. Check the value of the data 'SW_NOF_GUNS' in the swdefusr.sys

module.

2. Check that the user module swdefusr.sys has been loaded.

110602, Spot application invalid data error

Description

Task:arg

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The number of configured guns in 'SW_NOF_GUNS' are more than

10.

Current value is arg.

Consequences

It will not be possible to run any spot instructions.

Probable causes

The setup data 'SW_NOF_GUNS' has been assigned a value larger

than 10.

Recommended actions

Check the value of the data 'SW_NOF_GUNS' in the swdefusr.sys

module.

110603, Spot application optional argument

error

Description

Task:arg

No optional argument has been selected.

At least one optional argument is required.

Consequences

The instruction will not work correctly.

Recommended actions

Select an optional argument for this instruction.

110604, Gun error

Description

Task:arg

arg

Can not close a closed gun, the gun is not open!

110605, Spot application pre position error

Description

Task:arg

The optional argument PrePos are less than zero(0).

Consequences

It will not be possible to run this instruction until the argument are

changed.

Recommended actions

Change the value to a higher value than zero(0).

110606, Spot application gun activation error

Description

Task:arg

The servo gun arg is not activated.

Consequences

It will not be possible to run any spot instructions until the servo gun

is activated.

Probable causes

The servo gun has not been activated before trying to run this

instruction.

Recommended actions

Activate the servo gun arg.

Use the instruction 'ActUnit' to activate the servo gun, or set the

'Activate at Start Up' motion parameter to yes.

110607, Spot application gun initialization error

Description

Task:arg

The gun position is not initialized for the servo gun arg.

A service calibration to find the gun contact position is required before

continuing the program execution.

Consequences

It will not be possible to run any spot instructions until a service

calibration is done.

Probable causes

The servo gun has probably been fine calibrated and a service

calibration has not been done.

Recommended actions

1. Run the service routine 'ManServiceCalib' to find the contact

position of the gun, use option 2 - Initialize the servo gun position.

This needs to be done after the gun has been fine calibrated.

2. If tuning a gun it is possible to turn off the gun synchronization

check, set the motion parameter 'Sync check off' to Yes.

Location: Configuration/Motion/SG_PROCESS.

110608, Spot application gun synchronization

error

Description

Task:arg

The gun position is not synchronized for the servo gun arg.

A service calibration to find the gun contact position is required before

continuing the program execution.

Consequences

It will not be possible to run any spot instructions until a service

calibration is done.

Probable causes

The revolution counters for the servo gun has probably been updated

and a service calibration has not been done.

Recommended actions

1. Run the service routine 'ManServiceCalib' to find the contact

position of the gun, use option 1 - Synchronize the servo gun position.

6 Trouble shooting by Event log

3653HAC020738-001 Revision: K

This needs to be done after the revolution counters has been lost or

updated.

2. If tuning a gun it is possible to turn off the gun synchronization

check, set the motion parameter 'Sync check off' to Yes.

Location: Configuration/Motion/SG_PROCESS.

110609, Spot application no guns defined error

Description

Task:arg

No guns has been defined, the setup data 'SW_NOF_GUNS' can not be

read.

The setup data 'SW_NOF_GUNS' should be in the range of: 1 to

maximum arg.

Consequences

It will not be possible to run any spot instructions until this data has

been defined.

Probable causes

The setup data 'SW_NOF_GUNS' has been deleted or the user module

has not been loaded correctly.

Recommended actions

1. Check that the setup data is defined in the user modules and that the

modules are loaded.

2. Check that no syntax error are present in the user modules.

110610, Spot application gun name error

Description

Task:arg

The servo gun arg specified in curr_gundata{arg}, does not exist in the

motion parameters.

Consequences

It will not be possible to run any spot instruction until the correct servo

gun name is specified in curr_gundata.

Probable causes

The gun name in curr_gundata does not match any mechanical unit in

the system or no configuration for a servo gun has been loaded.

Recommended actions

1. Run the service routine 'ManAddGunName' to search the system for

servo guns and to update the gun name parameter in curr_gundata,

2. Load motion configuration for the servo gun.

110611, Spot application invalid data error

Description

Task:arg

Invalid value of data arg. Allowed values are: 0, 1 or 2.

Current value is arg

Consequences

It will not be possible to run any spot instruction until this data is

changed.

Probable causes

A invalid value has been defined.

Recommended actions

Change the value of arg.

110612, Spot application invalid robot error

Description

Task:arg

Invalid robot number, robot number arg.

Recommended actions

Check that arg was done.

110613, Spot application invalid error id

Description

Task:arg

Invalid error number Id

Invalid use of arg.

Current Error Id: arg

Probable causes

The error number id was larger than arg.

Recommended actions

Don't use arg. This routine is for the Spot application use only.

110614, Gun error

Description

Task:arg

arg

Gun error (arg).

Force calibration failed. Check the values and try again. Do not restart

system until a valid force calibration is made.

Recommended actions

Check values and do a force calibration again.

110615, Spot application gun control error

Description

Task:arg

It is not possible to close or open the servo gun arg in motors off or

emergency stop state.

Consequences

The gun has not opened or closed.

Probable causes

The system was set to motors off state during process for some reason.

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Recommended actions

Go to motors on state again and restart the instruction.

110616, Spot application weld position aborted

Description

Task:arg

The weld position was aborted, current rob target arg.

Current gun: arg

Consequences

This weld position was not welded.

The strength of the welded object has been reduced.

Probable causes

The spot instruction was aborted for some reason, the PP was moved

or the instruction was skipped.

Recommended actions

Check that it was OK to skip this position.

110617, Spot application invalid data error

Description

Task: arg

Invalid value of data 'gun_type' in curr_gundata{arg}.

Allowed values for the gun type are: 1 = servo gun or 2 = pneumatic

gun.

Current value is arg.

Consequences

This instruction will not work properly.

Recommended actions

Change the value of 'gun_type' in curr_gundata{arg}.

110618, Spot application invalid data error

Description

Task: arg

Invalid value of data 'pre_close_time' in curr_gundata{arg}.

Allowed interval: 0 to max arg seconds.

Current value: arg seconds.

Current gun: arg

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of 'pre_close_time' in curr_gundata{arg}.

110619, Spot application invalid data error

Description

Task: arg

Invalid value of data 'pre_equ_time' in curr_gundata{arg}.

Allowed interval: 0 to max arg seconds.

Current value: arg seconds.

Current gun: arg

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of 'pre_equ_time' in curr_gundata{arg}.

110620, Spot application invalid data error

Description

Task: arg

Invalid value of 'weld_timeout' in curr_gundata{arg}.

Allowed interval: arg to arg seconds.

Current value: arg seconds.

Current gun: arg

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of 'weld_timeout' in curr_gundata{arg}.

110621, Spot application invalid data error

Description

Task: arg

Invalid value of the 'tip_force' parameter in spotdata.

Allowed values are: 0 to max arg.

Current value: arg.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'tip_force' parameter in spotdata.

110622, Spot application invalid data error

Description

Task: arg

Invalid value of the 'plate_thickness' in spotdata.

Allowed values are: 0 to max arg mm.

Current value: arg mm.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'plate_thickness' parameter in spotdata.

6 Trouble shooting by Event log

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110623, Spot application invalid data error

Description

Task: arg

Invalid value of the 'plate_tolerance' parameter in spotdata.

Allowed values are: 0 to max arg mm.

Current value: arg mm.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'plate_tolerance' parameter in spotdata.

110624, Spot application invalid data error

Description

Task: arg

Invalid value of the 'prog_no' parameter in spotdata.

Allowed values are: 0 to max arg.

Current value: arg.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'prog_no' parameter in spotdata.

110625, Spot application invalid data error

Description

Task: arg

Invalid value of the 'sim_type' parameter in simdata.

Allowed values are: 0 to arg.

Current value: arg.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'sim_type' parameter in simdata

110626, Spot application invalid data error

Description

Task: arg

Invalid value of the 'tip_force' parameter in forcedata.

Allowed values are: 0 to arg.

Current value: arg.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'tip_force' parameter in forcedata.

110627, Spot application invalid data error

Description

Task: arg

Invalid value of the 'plate_thickness' parameter in forcedata.

Allowed values are: 0 to max arg mm.

Current value: arg mm.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'plate_thickness' parameter in forcedata.

110628, Spot application invalid data error

Description

Task: arg

Invalid value of the 'plate_tolerance' parameter in forcedata.

Allowed values are: 0 to arg mm.

Current value: arg mm.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'plate_tolerance' parameter in forcedata.

110629, Spot application invalid data error

Description

Task: arg

Invalid value of the 'force_time' parameter in forcedata.

Allowed values are: arg to arg s.

Current value: arg s.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the 'force_time' parameter in forcedata.

110630, Spot application weld complete timeout

Description

Task: arg

arg

Current robtarget: arg

Current gun: arg

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Consequences

The weld was not completed.

Probable causes

The weld controller did not reply with weld complete within the

configured time.

Recommended actions

1. Try to reweld the position.

2. Check the weld controller for any errors.

3. Increase the weld_timeout parameter in curr_gundata{arg}.

110631, Spot application weld error reported

Description

Task: arg

arg

Current robtarget: arg

Current gun: arg

Consequences

The weld was not completed.

Probable causes

The weld controller reported an error and stopped the current ongoing

weld.

Recommended actions

1. Try to reweld the position.

2. Check the weld controller for any errors.

110632, Current error ignored

Description

Task: arg

arg

110633, Spot application no mechanical unit

error

Description

Task: arg

arg

The servo gun does not exist in the motion parameters, no servo gun

parameters has been loaded.

Current gun name: arg.

Consequences

It will not be possible to run any spot instructions until configurations

for a servo gun is added.

Probable causes

No configuration for servo gun parameters has been loaded.

Recommended actions

Load configurations for servo gun.

110634, Spot application cfg data limit error

Description

Task: arg

The data value is outside the limit.

Recommended actions

Change the value.

110635, Spot application tip position error

Description

Task: arg

Tip position error.

arg

Current gun: arg

Probable causes

1. The geometry of the plates are wrong or the tips are damaged.

2. The value of the plate_thickness parameter in arg is not the same as

the actual thickness of the plates.

Recommended actions

1. Check that the thickness of the plates are correct and corresponds to

the value in the plate_thickness parameter in arg.

2. Check that the tips are OK.

110636, Spot application process error

Description

Task: arg

Process error.

arg

Current gun: arg

Consequences

The position was not welded.

Probable causes

An error occurred during the weld process.

Recommended actions

Check the welding equipment.

110637, Spot application text index too high

error

Description

Task: arg

Text index out of bounds in SwTextGet.

Current index number: arg

Probable causes

The index number is too high

6 Trouble shooting by Event log

3693HAC020738-001 Revision: K

Recommended actions

Change the index number.

110638, Gun error

Description

Task: arg

arg

110639, Gun error

Description

Task: arg

arg

A ManServiceCalib is required before continuing the program

execution.

arg

110640, Spot application missing signal error

Description

Task: arg

The signal arg is missing in the EIO configuration.

Consequences

It will not be possible to use some internal functionality.

Probable causes

The signal arg was removed from the EIO configuration.

Recommended actions

Add the missing signal arg.

110641, Spot application invalid data error

Description

Task: arg

Invalid value of the sim_time parameter in simdata.

Allowed values are: 0 to arg s.

Current value: arg s.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of the sim_time parameter in simdata

110642, Spot application invalid speed error

Description

Task: arg

It is not possible to run with reduced speed for SW Equalizing.

Allowed value (in percent): arg %.

arg

Consequences

The instruction will not work until this value is changed.

Probable causes

The speed was probably lowered by the operator.

Recommended actions

Set the speed to arg %.

110643, Spot application gun conflict error

Description

Task: arg

More than one robot try to use the same gun at the same time.

arg

Consequences

All the robots in the system are stopped.

Probable causes

The same gun is used from more than one motion task.

Recommended actions

Change the gun number or wait for the other robot to finish. You have

to deactivate the used gun before another robot can use it. This is done

with the instruction "DeactProc".

110644, Could not save the module

Description

Task:arg

arg

Could not save the module arg

The disk is full or the file is write protected.

110645, Spot application invalid data

Description

Task: arg

Software equalizing error.

The instructions SpotML and SpotMJ can not be used with Software

Equalizing activated.

Consequences

The instruction will be stopped.

Probable causes

Software Equalizing is activated in curr_gundata.

Recommended actions

1. Do not use the instructions SpotML and SpotMJ together with

Software Equalizing.

2. Reset the 'softw_equ' variable in curr_gundata and run the

instruction without Software Equalizing.

6 Trouble shooting by Event log

370 3HAC020738-001 Revision: K

110646, Spot application invalid data

Description

Task: arg

Invalid value of release_dist in curr_gundata{arg}.

Allowed interval: 0 to max arg mm.

Current value: arg mm.

Current gun: arg

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Recommended actions

Change the value of 'release_dist' in curr_gundata{arg}

110647, Spot application invalid data

Description

Task: arg

The calculated deflection distance for this gun is invalid.

Allowed interval: -arg to max arg mm.

Current value: arg mm.

Current gun: arg

deflection = spotdata.tip_force * curr_gundata{arg}.deflection_dist /

curr_gundata{arg}.deflection_force

Consequences

The instruction will not work until this value is changed.

Probable causes

A too big gun deflection has been entered in curr_gundata{arg} or the

deflection force in curr_gundata is set too low.

Recommended actions

1. Check the deflection distance in curr_gundata{arg}.

2. Check the deflection force in curr_gundata{arg}.

3. Check and increase the maximum limit in the setup data

'MAX_DEFLECTION' if needed.

110648, Spot application invalid data

Description

Task: arg

The value of 'deflection_time' in curr_gundata{arg} is invalid.

Allowed values are: 0 to max arg s.

Current value: arg s.

Current gun: arg

Consequences

The instruction will not work until this value is changed.

Probable causes

A too high gun deflection time has been entered in curr_gundata{arg}.

Recommended actions

Check the deflection time in curr_gundata{arg}.

110649, Spot application IO error

Description

Task: arg

It is not possible to set the signal, the I/O unit is lost.

Consequences

The signal will not be set.

Probable causes

The power to the IO unit is lost or the cable is damaged.

Recommended actions

1. Check the power to IO units.

2. Check that the cabling is OK.

110650, Spot application search error

Description

Task: arg

Touch up error, no surface was found during the search sequence in

MeasureWearL

Current gun: arg

Consequences

The tool will not be updated.

Probable causes

Check for missing or wrong tips and the the reference plate is located

in the correct position.

Recommended actions

1. Check that the correct tips are mounted on the gun.

2. Check that the reference plate is in the correct position.

3. Increase the setup data arg is needed.

110651, Spot application tip range error

Description

Task: arg

New tips with unexpected size, the size of the tips exceeds the

configured tip change supervision value.

Difference between new and old (worn) tips): arg mm.

Tip change tolerance: arg to arg mm.

Current gun: arg

Probable causes

Tips with unexpected size was mounted on the gun or the size exceeds

the maximum allowed value defined in the tip change tolerance setup

data tipchg_superv{arg}.

Recommended actions

1. Check that the correct tips are mounted on the gun.

2. Check that the maximum allowed supervision value in

tipchg_superv{arg} is enough.

6 Trouble shooting by Event log

3713HAC020738-001 Revision: K

110652, Spot application touch up error

Description

Task: arg

The calculated touch up force is to high!

Overload at least of axis arg.

Probable causes

The touch up contact force is probably too high.

Recommended actions

Lower the setup data touch up contact force, 'm_touch_force'.

110653, Spot application tip range error

Description

Task: arg

New moveable tip with unexpected size, the size of the tips exceeds the

configured tip change supervision value.

Difference between new and old (worn) tips): arg mm.

Tip change tolerance: arg to arg mm.

Current gun: arg

Probable causes

Tips with unexpected size was mounted on the gun or the size exceeds

the maximum allowed value defined in the tip change tolerance setup

data tipchg_superv{arg}.

Recommended actions

1. Check that the correct tips are mounted on the gun.

2. Check that the maximum allowed supervision value in

tipchg_superv{arg} is enough.

110654, Spot application tip change range error

Description

Task: arg

New fixed tip with unexpected size, the size of the tips exceeds the tip

change supervision value.

Difference between actual tip and reference tip: arg mm.

Tip change tolerance: arg to arg mm.

Current gun: arg

Probable causes

Tips with unexpected size was mounted on the gun or the size exceeds

the maximum allowed value defined in the tip change tolerance setup

data tipchg_superv{arg}.

Recommended actions

1. Check that the correct tips are mounted on the gun.

2. Check that the maximum allowed supervision value in

tipchg_superv{arg} is enough.

110655, Spot application tip wear range error

Description

Task: arg

Tip wear out of range, the tip wear exceeds the configured tip wear

tolerance!

Actual tip wear (moveable tip): arg mm.

Tip wear tolerance: arg to arg mm.

Current gun: arg

Probable causes

The tips has probably been worn out, and the current tip wear exceeds

the maximum allowed value defined in the tip wear tolerance setup

data tipwear_superv{arg}.

Recommended actions

Check that the maximum allowed supervision value in

tipwear_superv{arg} is enough.

110656, Spot application tip wear range error

Description

Task: arg

Tip wear out of range, the tip wear exceeds the configured tip wear

tolerance!

Actual tip wear (fixed tip): argmm.

Tip wear tolerance: arg to arg mm.

Current gun: arg

Probable causes

The tips has probably been worn out, and the current tip wear exceeds

the maximum allowed value defined in the tip wear tolerance setup

data tipwear_superv{arg}.

Recommended actions

Check that the maximum allowed supervision value in

tipwear_superv{arg} is enough.

110657, Spot application independent mode

error

Description

Task:arg

It is not possible to use independent mode in Spot instructions when

software equalizing is activated.

Current gun: arg

Consequences

It will not be possible to run any spot instruction until the independent

mode is deactivated.

Probable causes

The independent mode is activated.

Recommended actions

Reset the independent mode with the instruction 'IndGunMoveReset'.

6 Trouble shooting by Event log

372 3HAC020738-001 Revision: K

110658, Spot application error singularity error

Description

Task:arg

The robot is close to singularity. The performance of the Software

Equalizing will be poor.

Consequences

The performance of the Software Equalizing will be poor.

Probable causes

The robot is close to singularity.

Recommended actions

Reorient the robot or move the point.

110659, Spot application robot limit error

Description

Task:arg

The robot is outside it's working area.

Consequences

The position is not possible to reach.

Probable causes

The robot is outside it's working area or the robot is very close to it

when the gun arm deflection compensation is working.

Recommended actions

Reorient the robot or move the point.

110660, Spot application user module version

warning

Description

Task:arg

The version number of the user module(s) are different than the current

spot application version.

Current version of the spot application is arg.

Currently loaded user module and version number, arg, arg.

Consequences

The spot application might not work correctly, there is a possibility that

the customizable user modules has changed since previous RobotWare

releases.

There is a risk that improvements and/or corrections added since

previous RobotWare releases are unavailable.

Probable causes

The user modules probably originates from an backup taken from an

older system.

Recommended actions

1. Check that the user modules are up to date, compare them to the

versions in this RobotWare release.

2. Load the correct module(s) and make a P-start of the system.

3. This warning can be ignored if the improvements and/or corrections

in the user modules are not critical to the customer application.

110661, Spot application error signal label error

Description

Task: arg

The 'SignalLabel' name arg is not defined in the EIO configuration.

Probable causes

The 'SignalLabel' name is not defined in the EIO configuration.

Recommended actions

1. Check that the 'SignalLabel' is defined in the EIO configuration.

2. Add the missing 'SignalLabel'.

110662, Spot application missing routine error

Description

Task:arg

A Spot user routine is missing, routine arg

This software option will not work correctly without this routine.

Consequences

This software option will not work correctly without this routine.

Probable causes

The module with the routine is not loaded or the routine has been

removed from the module.

Recommended actions

1. Check that the module with the routine is loaded.

2. Load or add the missing module or routine.

110663, Spot application user data missing

error

Description

Task:arg

A Spot user data is missing, data arg

This software option may not work correctly without this data.

Consequences

This software option may not work correctly without this data.

Probable causes

The module with the data is not loaded or the data has been removed.

Recommended actions

1. Check that the module with the data is loaded.

2. Load or add the missing module or data.

3. Ignore this warning if the data has been intentionally removed.

6 Trouble shooting by Event log

3733HAC020738-001 Revision: K

110664, Spot application sw equalizing active

error

Description

Task:arg

It is not possible to run synchronized Spot instructions when the

software equalizing mode is activated.

It is only possible to run spot instructions with software equalizing

activated in semi coordinated mode.

Consequences

It will not be possible to run any spot instructions with software

equalizing activated until the synchronized mode is disabled.

Probable causes

Synchronized mode is selected in the spot instruction.

Recommended actions

Turn off software equalizing to be able to run in synchronized mode or

change the spot instructions to semi coordinated movements instead.

110665, arg

Description

Task:arg

arg

Recommended actions

arg

110666, Spot application servo gun close error

Description

Task:arg

Can not close a closed servo gun, the servo gun arg is not open!

Probable causes

The gun is already closed.

Recommended actions

Open the gun before trying to close it.

110667, Spot application force calib error

Description

Task:arg

Force calibration failed for servo gun arg.

Check the force calibration values and try again. Do not restart system

until a valid force calibration is made.

Consequences

The force calibration data will not be saved to the motion parameters.

Recommended actions

Check the values and try to do a force calibration again.

110668, Spot application thickness error

ignored

Description

Task: arg

arg

The current thickness error was ignored.

Current gun: arg

argarg

Probable causes

The operator probably ignored the thickness error.

Recommended actions

Check that it was OK to ignore the thickness error.

110669, Spot application gun number error

Description

Task: arg

The gun number arg is not a valid gun number, the gun index is out of

range.

Allowed values are: arg to max arg.

Consequences

It will not be possible run this instruction until this value is changed.

Probable causes

A gun index number that was out of range was programmed in the

instruction.

Current configured size of 'curr_gundata' is arg

Recommended actions

1. Change the gun index number in the instruction.

2. Increase the setup data 'SW_NOF_GUNS' and the spot application

data types if needed.

110670, Spot application user module changed

Description

Task: arg

The routine arg has a newer syntax, the user module has changed since

previous RobotWare releases.

Current module: arg

Current version: arg

Consequences

This instruction might not work correctly, some data(s) may not be

updated correctly.

There is a risk that improvements and/or corrections added since

previous RobotWare releases are unavailable.

Probable causes

The user modules probably originates from an backup taken from an

older system.

6 Trouble shooting by Event log

374 3HAC020738-001 Revision: K

Recommended actions

Compare and upgrade the user modules to the latest version supplied

in this RobotWare release.

110671, Spot application error module not

saved

Description

Task:arg

Could not save the module arg.

Consequences

The module arg was not saved.

Data needed for the process was not saved and can if e.g. an p-start is

done be lost.

Probable causes

The module does not exist, or the disk is full or the file is write

protected.

Recommended actions

1. Check that the module exists in the specified location on the disk.

2. Try to save the module manually from the FlexPendant.

110672, Spot application configuration error

Description

Task: arg

The weld program number is out of limits for the defined weld

program group output (GO).

Current value: arg.

Consequences

It will not be possible to run any spot instructions until this value is

changed.

Probable causes

The weld program signal group size is smaller than the specified weld

program.

Recommended actions

1. Increase the size of the weld program output group.

2. Decrease the weld program number.

110673, Spot application tool load definition

error

Description

Task:arg

The current used tool seems to have undefined load data.

The load of the tool is less or equal to 0 and/or the load center of gravity

is 0.

Current tool: arg.

Consequences

It will not be possible run this instruction until a correctly defined tool

is used.

Probable causes

The current tool is not correctly defined.

Recommended actions

Check that the load data for the tool is correctly defined before running

this routine.

110674, Spot application gun type error

Description

Task:arg

This routine can not be used with this type of gun.

Current gun type: arg.

Consequences

It will not be possible run this instruction with this gun type is used.

Probable causes

The 'gun_type' parameter in the used 'gundata' is not correctly defined.

Recommended actions

Check that the 'gun_type' parameter in the used 'gundata' is correctly

defined before running this routine.

110675, Spot application process task error

Description

Task:arg

The number of guns exceeds the number of activated process tasks.

Current gun: arg.

Consequences

It will not be possible to weld with more guns than the number of

activated process tasks.

Recommended actions

Configure more process tasks.

110676, Spot application power on error

Description

Task:arg

The power on sequence has not been done.

Consequences

The spot application will not work correctly.

Probable causes

An error occurred during the startup sequence.

Recommended actions

1. Check the event log for other errors occurring at the same time.

2. Correct the error and perform a p-start of the system.

6 Trouble shooting by Event log

3753HAC020738-001 Revision: K

110677, Spot application instruction aborted

Description

Task:arg

The instruction was aborted.

Instruction: arg

Consequences

Some data may not have been correctly updated.

Probable causes

The instruction was aborted by the operator and/or the PP was moved.

Recommended actions

Check that it was OK to abort this instruction.

110678, Spot application reference not done

error

Description

Task: arg

A reference measurement must be done before a tip wear or tip change

measurement can be done.

Instruction: arg

Probable causes

This instruction was run for the first time without the reference switch

selected.

Recommended actions

Run this instruction with the reference switch selected first.

110700, No weld internal.

Description

Task:arg

arg

Weld signal switched off at programming terminal.

Recommended actions

Check programming unit setting Operating mode for Weld on/off,

int.(S)/Weld/No weld (T).

110701, No weld external.

Description

Task:arg

arg

External weld signal was deactivated.

Recommended actions

Check signal at weld external input.

110702, The weld sequence is inhibited, weld

schedule stopped.

Description

Task:arg

arg

The started program was inhibited for the sequence/schedule

Recommended actions

Enable program at the programming terminal at Operation - Modify -

Programming - Sequence Setup Inhibit Sequence (S)/Start- Inhibit (T)

for all programs or Inhibit Sequence (P)/Start-Inhibit (P) for one

program - check program selection, select proper program.

110703, No valid weld program, no schedule

programmed.

Description

Task:arg

arg

wrong program selected - invalid spot selection - invalid parameters in

started program

Recommended actions

Check program selection - check spot selection - check value range of

the following parameters: power unit number, electrode/stepper

number, program number.

110704, The battery backup is low.

Description

Task:arg

arg

The buffer battery voltage has dropped

Recommended actions

Replace the backup battery in the weldtimer.

110705, Memory has been deleted.

Description

Task:arg

arg

All data of this weld timer has been deleted: - new timer firmware was

copied to system - battery is low or defective.

Recommended actions

Copy data (Operation - Services - Restore/Download) if the error

occurs repeatedly, replace timer.

110706, There is a hardware fault.

Description

Task:arg

arg

6 Trouble shooting by Event log

376 3HAC020738-001 Revision: K

Defective module. When booting, a module is detected which does not

match the firmware: - a firmware was introduced into the weld timer

which is not permitted for the existing hardware.

Recommended actions

Replace module or timer - replace module - load proper firmware to

the timer.

110707, External temperature too high.

Description

Task:arg

arg

Message of an external temperature input: - cable between

thermostatic switch and timer interrupted - insufficient cooling -

excessive welding heat/%I / duty cycle

Recommended actions

check cable/connector - check cooling circuit - reduce welding heat.

110708, Stop circuit open, no +24V.

Description

Task:arg

arg

+24V supply at stop circuit input missing.

Recommended actions

Close stop contact - check +24V supply at the inputs of the stop circuit.

110709, Circuit breaker tripped, weld without

command.

Description

Task:arg

arg

The timer module has activated the main switch relay: the related main

switch/circuit breaker is tripped.

Recommended actions

110710, Current feedback open.

Description

Task:arg

arg

Broken sensor cable - detached plug connections - incorrect connector

assignment - defective sensor.

Recommended actions

Replace cable - check plug-in connections - check connector

assignment - replace sensor.

110711, Current feedback short circuit.

Description

Task:arg

arg

Squeezed sensor cable - incorrect connector assignment - defective

sensor.

Recommended actions

Replace cable - check connector assignment - replace sensor.

110712, No primary voltage on first half wave.

Description

Task:arg

arg

No primary voltage was measured in KUR mode.

Recommended actions

Check connectors and cables.

110713, No current, weld 1 to 3.

Description

Task:arg

arg

Electrodes not closed - no electrical contact at the point to be welded -

contamination of sheets - use of sealant.

Recommended actions

Check closing mechanisms (robot, machine) - check position and

pressure of electrodes - clean sheets - check conductivity.

110714, Current is too low, weld 1 to 3.

Description

Task:arg

arg

Current measured is below tolerance band: - tolerance band too narrow

- programmed value too high, e.g., because of stepping - contamination

of electrodes - contamination of sheets - bad electrode positioning -

welding transformer too small.

Recommended actions

Check tolerance band - check programmed value, stepper values -

repeat weld, clean electrodes - repeat weld, clean sheets - improve

positioning - change over or replace welding transformer.

110715, Current is too high, weld 1 to 3.

Description

Task:arg

arg

6 Trouble shooting by Event log

3773HAC020738-001 Revision: K

Current measured exceeds tolerance band: - programmed value jump

to lower current values - handling of different sheet thicknesses or

sheet layers - variant electrode pressure conditions - variant resistances

(impedance) in secondary circuit, e.g. shunt resistor - mains voltage

fluctuations.

Recommended actions

Increase tolerance band, reduce programmed value jumps - use several

programs with different parameters - check electrode force system -

check secondary circuit - increase tolerance band, ensure constant

conditions.

110716, Current is low in consecutive welds,

weld 1 to 3.

Description

Task:arg

arg

Current measured is below the limited tolerance band after n

repetitions: - programmed value jump to higher current values -

handling of different sheet thicknesses or sheet layers - variant

electrode pressure conditions - variant resistance conditions in

secondary circuit - mains voltage fluctuations.

Recommended actions

Value jumps - use several programs with different parameters - check

electrode force system - ensure constant conditions - increase tolerance

band, ensure constant conditions.

110717, Weld time is too short, weld 1 to 3.

Description

Task:arg

arg

The permitted time tolerance is not reached - external termination of

weld signal.

Recommended actions

Check setting at Operation - Modify - Programming - Welding

parameters - Time monitoring - check signal.

110718, Weld time is too long, weld 1 to 3.

Description

Task:arg

arg

The permitted time tolerance is exceeded.

Recommended actions

Check setting at Operation - Modify - Programming - Welding

parameters - Time monitoring.

110719, Faulty configuration

Description

Number of configured weld timers are arg.

The configuration file(s) for Bosch weld timer interface does not

contain all expected data.

Consequences

The Bosch weld timer interface will not be able to connect to any weld

timer.

Probable causes

Wrong version or corrupt configuration file(s).

Recommended actions

1. Re-install correct Bosch weld timer interface configuration files.

2. Check internal elog messages.

110720, Data value outside limits.

Description

Task:arg

Program Ref. arg

The value of 'TimerNo' is outside limits, current value: arg.

Allowed values are: 1 to arg.

Consequences

The instruction will not work until a valid value is entered.

Probable causes

An invalid value was entered.

Recommended actions

Change the value.

Recovery: arg

110721, Timer not connected

Description

Weld timer not connected, timer arg.

Consequences

It will not be possible to access the timer.

Probable causes

Faulty configuration or disconnected hardware.

Recommended actions

1. Check configuration and cables.

2. Check internal elog messages.

110722, Unknown fault in weld timer.

Description

Task:arg

arg

There is a unknown fault in the weld timer, code arg.

Recommended actions

Connect the BOS5000/6000 application and check the reason for the

fault.

6 Trouble shooting by Event log

378 3HAC020738-001 Revision: K

110723, Power unit not ready.

Description

Task:arg

arg

The power unit temperature is too high.

Recommended actions

1. Check cooling.

2. Check duty cycle, load.

3. Check cables, connectors.

110724, 27~V Synchronisation, power fault.

Description

Task:arg

arg

Welding network has been switched off, or is outside the range of 50

to 60 Hz +- 5%.

Recommended actions

1. Switch on and check weldin network.

2. Reset error, check all line phases.

3. Check synchronisation voltage.

4. Check fuses in power unit or replace power unit.

110725, 24V off or too low.

Description

Task:arg

arg

The 24V supply for the internal logic is too low(approx. 19V).

Recommended actions

1. Check 24V supply.

2. Check the connectors.

110726, Transformer temperature too high.

Description

Task:arg

arg

The temperature of the welding transformer is too high.

Recommended actions

1. Check cables and connectors.

2. Check cooling circuit of the welding transformer.

3. Reduce welding heat.

110727, Cooling temperature too high.

Description

Task:arg

arg

The heat sink is too hot(above 70ºC) or the ambient temperature is too

high(above 70ºC).

Recommended actions

1. Check cooling.

2. Check duty cycle, load.

3. Check temperature inside the process cabinet or check process

cabinet cooling.

110728, IO bus fault.

Description

Task:arg

arg

The serial IO module has signalled a bus fault to the timer module.

Recommended actions

Replace IO module or timer.

110729, Electrode life has expired, end of

stepper.

Description

Task:arg

arg

The specified electrode has reached the Electrode life Expired, End of

stepper condition.

Recommended actions

The electrode must be replaced.

110730, Tip dress request.

Description

Task:arg

arg

The specified electrode has reached the Tip dress request, Tip dress

inq. condition.

Recommended actions

The electrode tip must be dressed.

110760, Tool Change Error

Description

Task:arg

arg

Recommended actions

arg

6 Trouble shooting by Event log

3793HAC020738-001 Revision: K

110790, Medar WT: No contact with Medar.

Description

No communication with Medar weld timer arg, or the Medar unit does

not respond.

No contact on address arg.

Recommended actions

1.Check the address.

2.Check the serial cable.

3.Check the Medar unit.

110801, Dispense Error

Description

Task:arg

arg

Not possible to start without On argument.

arg

Recommended actions

Add On switch to first instruction.

110802, Dispense Error

Description

Task: arg

arg

Value for DPUSER data dp_fl1_corr is out of limits.

arg

110803, Dispense Error

Description

Task: arg

arg

Value for DPUSER data dp_fl2_corr is out of limits.

arg

110804, Dispense Error

Description

Task: arg

arg

Value for flow1_type in beaddata is out of limits.

arg

110805, Dispense Error

Description

Task: arg

arg

Value for flow2_type in beaddata is out of limits.

arg

110806, Dispense Error

Description

Task: arg

arg

Not possible to use two On instructions in sequence.

arg

Recommended actions

Remove one instruction with On switch.

110807, Dispense Error

Description

Task: arg

arg

Value for fl1_delay in equipdata is out of limits.

arg

110808, Dispense Error

Description

Task: arg

arg

Value for fl2_delay in equipdata is out of limits.

arg

110809, Dispense Error

Description

Task: arg

arg

Value for ref_speed in equipdata is out of limits.

arg

110810, Dispense Error

Description

Task: arg

arg

Value for equip_no in beaddata is out of limits.

arg

110811, Dispense Error

Description

Task: arg

arg

Unexpected Stop. Stopped while dispensing was active.

arg

6 Trouble shooting by Event log

380 3HAC020738-001 Revision: K

110812, Dispense Error

Description

Task: arg

arg

Unknown error during dispensing.

arg

110813, Dispense Error

Description

Task: arg

arg

Value for DPUSER data dp_nof_equip is out of limits.

arg

110814, Dispense Error

Description

Task: arg

arg

Value for flow1 in beaddata is out of limits.

arg

110815, Dispense Error

Description

Task: arg

arg

Value for flow2 in beaddata is out of limits.

arg

110816, Dispense Error

Description

Task: arg

arg

Value for fl1_corr in equipdata is out of limits.

arg

110817, Dispense Error

Description

Task: arg

arg

Value for fl2_corr in equipdata is out of limits.

arg

110818, Dispense Error

Description

Task: arg

arg

Not possible to change equipment in the middle of a string.

arg

110819, Dispense Error

Description

Task: arg

arg

Value for acc_max or decel_max in equipdata is too low.

arg

110820, Dispense Error

Description

Task: arg

arg

The calculated flow value is out of limits.

arg

110821, Dispense Error

Description

Task: arg

arg

fl1_delay or fl2_delay in equipdata is out of limits.

arg

111000, Itemsource exists

Description

Itemsource arg already exists.

Two itemsources may not have the same name.

Recommended actions

Check itemsource name at:

arg

Recovery: arg

111001, Not a valid itemsource name

Description

Name arg is not a valid itemsource name.

Recommended actions

Check itemsource name at:

arg

Recovery: arg

111002, Buffer size exceeded

Description

Fatal internal error for itemsource arg.

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Recommended actions

Try warm start or cold start. Please report this error.

111003, Itemsource not defined

Description

The itemsource object has not been defined.

Recommended actions

Check itemsource at:

arg

Recovery: arg

111004, Itmsrc internal error

Description

Internal error for itemsource arg.

Error type: arg.

Recommended actions

Instruction: arg

Recovery: arg

111005, Flush itemsource first

Description

Itemsource arg must be flushed before it is used.

arg

Recommended actions

Instruction: arg

Recovery: arg

111006, Ack item target first

Description

Item target must be acknowledged before executing the GetItmTgt(s)

instruction again.

Itemsource: arg.

arg

Recommended actions

Instruction: arg

Recovery: arg

111007, Item target buffer full

Description

Item target buffer full for itemsource arg.

Recommended actions

Instruction: arg

Recovery: arg

111008, Too many item targets

Description

Too many item targets pushed to itemsource arg.

arg

Recommended actions

Instruction: arg

Recovery: arg

111009, Conveyor eio init error

Description

Error in the initialisation of the I/O signals for itemsource arg, for

conveyor arg.

Recommended actions

Instruction: arg

Recovery: arg

111010, Conveyor does not exist

Description

Error for itemsource arg.

The conveyor arg

does not exist.

Recommended actions

Instruction: arg

Recovery: arg

111011, No conveyor name given

Description

Error for itemsource arg.

No conveyor name specified.

Recommended actions

Instruction: arg

Recovery: arg

111012, Conveyor limits error

Description

Error for itemsource arg, conveyor arg.

The limits are incorrect specified.

Recommended actions

Instruction: arg

Recovery: arg

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111013, Cnv data defined late

Description

Error for itemsource arg, conveyor arg. The ItmSrcCnvDat instruction

must be called before the ItmSrcFlush instruction.

arg

Recommended actions

Instruction: arg

Recovery: arg

111014, Timeout

Description

Instruction reached timeout

Recommended actions

Instruction: arg

Recovery: arg

111015, Sortdata overridden

Description

Use of selection data will override the sortdata.

Recommended actions

Instruction: arg

Recovery: arg

111016, Orientation error

Description

The orientation in selection data is not correct defined.

Itemsource: arg

Recommended actions

All used orientations must be normalized i.e. the sum of the quaternion

elements squares must equal 1.

Instruction: arg

Recovery: arg

111017, Uplink message failed

Description

The system failed to send a rapid uplink message

Consequences

Program execution may run as expected.

Statistics may not be updated.

Probable causes

Network interrupt.

CPU overload in controller system.

CPU overload in remote system.

Remote system may not run as expected.

Recommended actions

Check network connection.

Check state of remote system.

Check robot program for infinite loops.

111100, Work object buffer full

Description

Too many conveyor strobes stored in

buffer for itemsource arg

In queue index: arg

Out queue index: arg

111101, Item target buffer full

Description

Item target buffer full for itemsource arg.

Item tag: arg.

Scene number arg.

111102, Too many item targets

Description

Too many item targets pushed to itemsource arg.

Number of items: arg.

Scene number arg.

111103, Push without any strobe

Description

Push received without any corresponding strobe signal is received for

itemsource arg.

Push scene number arg

Latest received strobe arg

Recommended actions

Check hardware connections

111104, Push received too late

Description

Push of items was received too late in itemsource arg.

Corresponding wobj already overwritten.

Push scene number arg.

Latest received strobe arg.

Recommended actions

Check the position generation frequency.

111105, Conveyor limits error

Description

Error in itemsource arg

Conveyor arg

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The limits are incorrect specified.

Recommended actions

Required: Enter < Exit

or: Enter < Start < Stop < Exit

Given: arg

111106, Trig distance warning

Description

Trig distance is too long for conveyor arg.

Trig distance is set to maximum.

Max: arg.

Given: arg.

111107, Trig distance warning

Description

Trig distance is too short for conveyor arg.

Trig distance is set to minimum.

Min: arg

Given: arg.

111108, Failed to send data

Description

An error occured when sending variable arg from the itemsource arg

to remote system.

Status arg.

Recommended actions

Check the position generation frequency and the network connections.

111109, Failed to open signal

Description

An error occured when opening Position Generator signal: arg for

itemsource: arg.

Status arg.

Recommended actions

Check the Position Generator signal name.

111110, Failed to open signal

Description

An error occured when opening Trig signal: arg for itemsource: arg.

Status arg.

Recommended actions

Check the Trig signal name.

111111, Failed to open signal

Description

An error occured when opening Strobe signal: arg for itemsource: arg.

Status arg.

Recommended actions

Check the Strobe signal name.

111112, Failed to open signal

Description

An error occured when opening Robot Execution signal: arg for

itemsource: arg.

Status arg.

Recommended actions

Check the Robot Execution signal name.

111113, Failed to open signal

Description

An error occured when opening Queue Idle signal: arg for itemsource:

arg.

Status arg.

Recommended actions

Check the Queue Idle signal name.

111114, Failed to open signal

Description

An error occured when opening Position Available signal: arg for

itemsource: arg.

Status arg.

Recommended actions

Check the Position Available signal name.

111115, Failed to open signal

Description

An error occured when opening Conveyor Control signal: arg for

itemsource: arg.

Status arg

Recommended actions

Check the Conveyor Control signal name.

111116, Prepared for PickMaster option not

installed.

Description

The Prepared for PickMaster option has not been correctly installed in

the system.

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Recommended actions

Reinstall the system using a proper key containing the Prepared for

PickMaster option.

111117, Uplink message failed

Description

The system failed to send a process uplink message.

Consequences

Item targets may not be picked.

The system may not run as expected.

Probable causes

Network interrupt.

CPU overload in controller system.

CPU overload in remote system.

Remote system may not run as expected.

Recommended actions

Check network connection.

Check state of remote system.

Check robot program for infinite loops.

111400, GAP IO Error

Description

Task: arg

Context: arg

111402, GAP Execution Error

Description

Task: arg

Context: arg

Failed to access routine, arg

111403, Failed to advance to station

Description

Task: arg, failed to advance to station arg

111404, GAP Error

Description

Task: arg ,

GAP Error posted from PartCrossCheckOK routine.

PartCrossCheckOK not ok.

111405, GAP Execution Error

Description

BeforePart or AfterPart Sync Timeout in arg.

111406, Event execution error

Description

Event procedure: arg in task arg does not exist

Recommended actions

Create the procedure arg or change the procedure in the ee_event data

arg to an existing procedure.

111407, GAP Execution Error

Description

Error in GAPExecCycle: arg

111408, GAP Execution Error

Description

WaitSyncPart Timeout: arg in arg.

111409, GAP Execution Error

Description

Error in GapExecPart: arg.

111410, No part selected for station

Description

No part selected for station arg in task arg.

111411, GAP Execution Error

Description

Part station number is invalid: arg

Valid station: arg

Next station: arg

111412, Not matching tasklists in tasks

Description

Tasklist in partdata arg in task arg does not match tasklist in partdata

arg in task arg.

Recommended actions

Check and change the tasklists so they match.

111413, Invalid task name

Description

Taskname arg in partdata is invalid

111414, GAP Execution Error

Description

The tasklist must include 'this' task: arg

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111415, GAP Execution Error

Description

Task: arg

Tasks could not be cross-checked. Station: arg

111416, GAP Execution Error

Description

GapEE_Stopped failed in task: arg

111417, GAP Access IO Error

Description

GAP Access IO Error in task: arg

111419, GAP cfg data error

Description

Cfg data not found in InstancePath: arg

Attribute: arg

111420, GAP IO Error

Description

GAP IO Error in shared module.

111421, GAP Task Error

Description

Maximum of GAP tasks defined (arg).

111422, GAP event error

Description

arg GAP_EE_EVT

Unknown event id: arg

111423, GAP proc error

Description

GAP_EE_EVT Unknown proc arg

111424, Partdata not found for PLC code

Description

No matching partdata found in task arg for PLC code arg

Recommended actions

Create partdata with matching plc code.

111425, Menudata not found for PLC code

Description

No matching menudata found in task arg for PLC code arg

Recommended actions

Create menudata with matching plc code.

111426, Not valid task state for menudata

Description

The state of task arg should be at safe or at service when running

selected menudata.

111427, Not valid station for menudata

Description

Current station (arg) in task arg does not match valid station arg in

menudata

111428, Not valid user level for menudata

Description

Not valid menudata. Current user level arg does not match minimum

user level arg defined in menudata

111429, Part execution error

Description

Part procedure: arg in task arg does not exist

Recommended actions

Create the procedure arg or change the procedure in the partdata to an

existing procedure.

111430, Menu execution error

Description

Menu procedure: arg in task arg does not exist

Recommended actions

Create the procedure arg or change the procedure in the menu to an

existing procedure.

111431, Timeout during handshaking

Description

Timeout during handshaking in task arg.

Probable causes

The configured signal run_part_signal_in or run_menu_signal_in

wasn't set to 0 within configured timeout (arg seconds) after the

configured signal run_ack_out was set to 1.

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Recommended actions

Make sure to reset configured signal run_part_signal_in or

run_menu_signal_in after configured signal run_ack_out is set to 1.

111432, Not valid plc code in task

Description

Not valid plc code in task arg.

Probable causes

The configured group signal plc_cmd_group_in has a not valid value

arg.

Values in the range of 1-99 is reserved for error codes.

Recommended actions

Make sure requests are higher than 99.

111433, Next station configuration error

Description

PROC configuration for next_stn_arg_signal_in not configured.

Consequences

Order for station arg may not be executed.

Recommended actions

Configure next_stn_arg_signal_in to ensure that orders for station arg

will be executed.

111434, At station configuration error

Description

PROC configuration for at_stn_arg_signal_in not configured.

Consequences

Order for station arg may not be executed.

Recommended actions

Configure at_stn_arg_signal_in to ensure that orders for station arg

will be executed.

111501, BullsEye Text Error

Description

BullsEye could not access text.

Index given: arg

Text Table: arg

Consequences

BullsEye will be unable to generate proper message dialogs.

Recommended actions

Please report this error to your ABB support representative.

111502, BullsEye Obsolete Message

Description

BullsEye Obsolete Message

111503, BullsEye Error

Description

Range-of-motion test failed.

111504, BullsEye Error

Description

RangeCheck feature does not support coordinated work objects.

111505, BullsEye Error

Description

RangeCheck feature does not support uframe transforms.

111506, BullsEye Data Loaded

Description

Stored reference data was loaded successfully.

111507, BullsEye Error

Description

No reference data file was found.

Probable causes

No previous data was stored.

111508, BullsEye Error

Description

The reference data file is already loaded.

111509, BullsEye Error

Description

An error occurred while unloading the reference data module.

Recommended actions

Reset program by moving the program pointer to the main routine and

restart program execution.

111510, BullsEye Error

Description

An error occured while reading data from the stored reference data

module.

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111511, BullsEye Data Saved

Description

The reference data has been saved successfully.

111512, BullsEye Error

Description

An error occured while saving the reference data.

111513, BullsEye Tool Initialized

Description

The tool, arg, has been initialized in the BullsEye data collection.

Task: arg

111514, BullsEye Tool Added

Description

The tool, arg, has been added to the BullsEye data collection.

Task: arg

111515, BullsEye Tool Removed

Description

The tool, arg, has been removed from the BullsEye data collection.

Task: arg

Consequences

BullsEye will no longer be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to add and initialize the

tool.

111516, BullsEye IO Error

Description

Invalid input name: arg

Tool: arg

Task: arg

Consequences

No connection to the digital input could be established. Initialization

has failed.

Recommended actions

Check that the specified input exists in the system.

111517, BullsEye Error

Description

The tool, arg, is not included in the BullsEye data collection.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to add and initialize the

tool.

111518, BullsEye IO Error

Description

BullsEye attempted to reconnect a previously connected IO signal.

Input Name: arg

Tool: arg

Task: arg

Recommended actions

If problem persists, run the BESetupToolJ instruction to reinitialize the

tool.

111519, BullsEye RangeCheck Failed

Description

Joint Limit Check failed for a Twist of arg and a Tilt of arg

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Try a different start position or relocate the BullsEye device. If no

acceptable position can be found, try reducing the requested Tilt and

Twist in the be_scan data. However, be aware that reducing these

values may reduce the accuracy.

111520, BullsEye RangeCheck Failed

Description

Singularity Check failed for a Twist of arg and a Tilt of arg

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Try a different start position or relocate the BullsEye device.

111521, BullsEye RangeCheck Failed

Description

No solution could be found within acceptable Joint Limits and

Singularity checks.

A Twist of arg and a Tilt of arg was specified.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

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Recommended actions

Try a different start position or relocate the BullsEye device. If no

acceptable position can be found, try reducing the requested Tilt and

Twist in the be_scan data. However, be aware that reducing these

values may reduce the accuracy.

111522, BullsEye RangeCheck Failed

Description

No solution could be found within acceptable Joint Limits and

Singularity checks with adequate face-plate clearance.

A Twist of arg and a Tilt of arg was specified.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Try a different start position or relocate the BullsEye device. If no

acceptable position can be found, try reducing the requested Tilt and

Twist in the be_scan data. However, be aware that reducing these

values may reduce the accuracy.

111523, BullsEye BaseFrame Read Error

Description

BullsEye was unable to read the BaseFrame definition for the robot.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

The Motion Configuration Database (MOC) may have excessive

protections implemented. Please ensure that the baseframe definition

is accessible.

111524, BullsEye TCP Extended

Description

The instruction, BETcpExtend, was used to shift the TCP of arg.

Task: arg

New Extension: arg

Change: arg

111525, BullsEye Setup Complete

Description

Setup complete for:

Tool: arg

Task: arg

New work object: arg

New TCP: arg

Max, Mean Deviation: arg

111526, BullsEye Setup Failed

Description

The setup for Tool, arg, failed.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

1. Check error log for additional messages.

2. Check setup parameters, sensor device, and start positions before

attempting the setup again.

111527, BullsEye Error

Description

The start position for Tool, arg, is not defined.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to define the position.

111528, BullsEye Beam Moved

Description

Beam has moved or calibration changed.

Tool: arg

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to define the beam

position.

111529, BullsEye Updated TCP

Description

The TCP for Tool, arg, has been updated by BEUpdateTool.

Task: arg

New TCP: arg

Change: arg

Elapsed Time: arg

111530, BullsEye Error

Description

Beam location could not be determined.

Tool: arg

Task: arg

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Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

1. Check that the sensor device is working properly.

2. Execute the BESetupToolJ setup instruction to define the beam

position.

111531, BullsEye Error

Description

The start position was changed.

Tool: arg

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to redefine the new start

position.

111532, BullsEye Error

Description

The tool, arg, is not set up.

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

Execute the BESetupToolJ setup instruction to add and initialize the

tool.

111533, BullsEye Error

Description

A full TCP measurement failed.

Tool: arg

Task: arg

Consequences

BullsEye will not be able to evaluate this tool.

Recommended actions

If problem persists, execute the BESetupToolJ setup instruction to add

and initialize the tool.

111534, BullsEye Day1 TCP Updated

Description

The Day1 TCP has been updated due to a change in the beam location.

Tool: arg

Task: arg

Consequences

New TCP: arg

Change: arg

111535, BullsEye Day1 TCP Updated

Description

The operator has permitted the Day1 TCP to be updated.

Tool: arg

Task: arg

Consequences

New TCP: arg

Change: arg

111536, BullsEye New TCP Rejected

Description

The operator rejected the TCP measurement.

Tool: arg

Task: arg

Consequences

TCP will remain unchanged.

Original TCP: arg

Measured TCP: arg

111537, BullsEye Updated TCP

Description

The TCP for Tool, arg, has been updated by BECheckTcp.

Task: arg

New TCP: arg

Change: arg

Elapsed Time: arg

111538, BullsEye Debug On

Description

Debug mode has been turned on.

Task: arg

111539, BullsEye Debug Off

Description

Debug mode has been turned off.

Task: arg

111540, BullsEye Error

Description

An error has occurred. The cause has not been identified.

Task: arg

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Recommended actions

If problems persists, try:

1. Execute the BESetupToolJ setup instruction to reinitialize the tool.

2. Please contact your ABB support representative if problem cannot

be corrected.

111541, BullsEye TCP OK

Description

The TCP for Tool, arg, has not been updated by BECheckTcp, because

it is within tolerance.

Task: arg

Measured TCP: arg

Current TCP: arg

Elapsed Time: arg

111551, SmarTac Configuration Error

Description

Signal names supplied in PROC cannot be found in EIO.

Recommended actions

Please check the PROC config and EIO config.

111552, SmarTac Configuration Error

Description

An error occurred while attempting to establish connections to I/O.

Recommended actions

Please check the PROC config and EIO config.

111553, SmarTac Configuration Error

Description

SmarTac was unable to find:

arg

in PROC configuration.

Probable causes

A PROC configuration file was loaded with errors.

111554, SmarTac Configuration Error

Description

SmarTac tried to access an illegal type:

arg

in PROC configuration.

Probable causes

A PROC configuration file was loaded with errors.

111555, SmarTac Configuration Error

Description

SmarTac experienced an unknown error trying to access:

arg

in PROC configuration.

Probable causes

A PROC configuration file was loaded with errors.

111556, SmarTac Result

Description

Search Result: arg

Search Type: Search 1D

Search Name: arg

111557, SmarTac Search Override

Description

Optional limit exceeded on Search_1D!

Search Name: arg

The magnitude of the offset = arg

The preset limit = arg

111558, SmarTac Search Override

Description

Default search result selected after failed search.

Manual override selected.

Search Type: Search 1D

Search Name: arg

111559, SmarTac Result

Description

Part detected.

Search Type: Part Search

111560, SmarTac Search Override

Description

Default search result selected.

No part found during part search.

Manual override 'TRUE' selected.

Search Type: Part Search

111561, SmarTac Search Override

Description

Default search result selected.

No part found during part search.

Manual override 'FALSE' selected.

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Search Type: Part Search

111562, SmarTac Result

Description

Location Result: arg

Width Result: arg

Search Type: Groove

Search Name: arg

111563, SmarTac Search Override

Description

Default search result was selected after a failed Groove Search.

Manual override selected.

Search Type: Groove

Search Name: arg

111564, SmarTac Text Error

Description

SmarTac could not access text.

Index given: arg

Text Table: arg

Consequences

SmarTac will not be able to display messages correctly.

Recommended actions

Report to ABB.

111601, DB Table Creation Failed

Description

Failed to create WebWare table: tblBullsEye

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111602, DB Table Created

Description

The table, tblBullsEye, was successfully added to the WebWare

database.

111603, Production Monitor Error

Description

Configuration Error.

Production Monitor was unable to find:

arg

in the PROC configuration.

Recommended actions

Check the PROC configuration file for errors.

111604, Production Monitor Error

Description

Configuration Error.

Production Monitor tried to access an illegal type:

arg

in the PROC configuration.

Recommended actions

Check the PROC configuration file for errors.

111605, Production Monitor Error

Description

Configuration Error.

Production Monitor experienced an unknown error trying to access:

arg

in the PROC configuration.

Recommended actions

Check the PROC configuration file for errors.

111606, Production Monitor Error

Description

Text Resource Error.

Production Monitor could not access text.

Index: arg

File: arg

Recommended actions

Report to ABB.

111607, Production Monitor DB

Description

Creating the tblCycRes table in the WebWare database...

111608, DB Table Creation Failed

Description

Failed to create WebWare table: tblCycRes

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

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111609, DB Table Created

Description

The table, tblCycRes, was successfully added to the WebWare

database.

111610, Production Monitor DB

Description

Creating the tblSeamRes table in the WebWare database...

111611, DB Table Creation Failed

Description

Failed to create WebWare table: tblSeamRes

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111612, DB Table Created

Description

The table, tblSeamRes, was successfully added to the WebWare

database.

111613, Production Monitor DB

Description

Creating the tblSeamEv table in the WebWare database...

111614, DB Table Creation Failed

Description

Failed to create WebWare table: tblSeamEv

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111615, DB Table Created

Description

The table, tblSeamEv, was successfully added to the WebWare

database.

111616, DB Table Creation Failed

Description

Failed to create WebWare table: tblCycleEv

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111617, DB Table Created

Description

The table, tblCycleEv, was successfully added to the WebWare

database.

111618, DB Table Creation Failed

Description

Failed to create WebWare table: tblGapEv

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111619, DB Table Created

Description

The table, tblGapEv, was successfully added to the WebWare database.

111620, Production Monitor Mismatch

Description

The part information for, arg, has changed in task, arg.

Consequences

The reference data stored for this part can no longer be linked to the

part program.

Recommended actions

Please delete the reference file to store new data.

111621, Production Monitor Error

Description

The reference data module for part, arg, is already loaded.

An attempt will be made to unload the module and then reload.

Task Name: arg

111622, Production Monitor Error

Description

The reference data module for part, arg, is already loaded. An attempt

to unload the module failed.

Task Name: arg

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Consequences

This is an abnormal condition that will prevent Production Monitor

from working properly until the problem is resolved.

Recommended actions

Delete the reference module from this task and restart program

execution from the main.

111623, Production Monitor Error

Description

The reference data module for part, arg, could not be unloaded.

Task Name: arg

Recommended actions

Restart the program execution from the main.

111624, Production Monitor Error

Description

The reference data for part, arg, could not be read from the stored data

file.

Task Name: arg

Probable causes

The data file may contain syntax errors.

Recommended actions

Please delete the reference data file to allow new data to be stored.

111625, Monitor Data Saved

Description

Nominal data was saved successfully for, arg.

Task Name: arg

111626, Production Monitor Error

Description

An error occured while saving reference data file for part, arg.

Task Name: arg

Consequences

Production Monitor will not be able to perform monitoring activities.

Recommended actions

Report to ABB.

111627, Production Monitor Timer Reset

Description

The cycle timer has been reset to prevent a possible overflow.

Task Name: arg

111628, Production Monitor Timer Reset

Description

The arc timer has been reset to prevent a possible overflow.

Task Name: arg

111629, DB Table Creation Failed

Description

Failed to create WebWare table: tblSmtc1D

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111630, DB Table Created

Description

The table, tblSmtc1D, was successfully added to the WebWare

database.

111631, DB Table Creation Failed

Description

Failed to create WebWare table: tblSmtcPart

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111632, DB Table Created

Description

The table, tblSmtcPart, was successfully added to the WebWare

database.

111633, DB Table Creation Failed

Description

Failed to create WebWare table: tblSmtcGroove

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111634, DB Table Created

Description

The table, tblSmtcGroove, was successfully added to the WebWare

database.

6 Trouble shooting by Event log

394 3HAC020738-001 Revision: K

111635, DB Table Creation Failed

Description

Failed to create WebWare table: tblTchClean

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111636, DB Table Created

Description

The table, tblTchClean, was successfully added to the WebWare

database.

111637, DB Table Creation Failed

Description

Failed to create WebWare table: tblNavigSrchSp.

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111638, DB Table Created

Description

The table, tblNavigSrchSp, was successfully added to the WebWare

database.

111639, DB Table Creation Failed

Description

Failed to create WebWare table: tblNavigMeas1D.

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Check the WebWare server.

111640, DB Table Created

Description

The table, tblNavigMeas1D, was successfully added to the WebWare

database.

111641, DB Table Creation Failed

Description

WebWare database tables must be created in Automatic Mode.

Consequences

Production Monitor will be unable to log data to the database.

Recommended actions

Switch to Automatic Mode and try again.

111701, Torch Services Error

Description

Torch services MechClean configuration error. IO arg NOT found.

111702, Torch Services Error

Description

Torch services MechClean configuration error. Check PROC cfg

domain.

111703, Torch Services Error

Description

Torch services MechClean configuration error. Torch Services was

unable to find: arg/arg in PROC configuration.

111704, Torch Services Error

Description

Torch services MechClean configuration error. Torch Services tried to

access an illegal type: arg/arg in PROC configuration.

111705, Torch Services Error

Description

Torch services MechClean configuration error. Torch Services

experienced an unknown error trying to access: arg/arg in PROC

configuration.

111706, Torch Services Error

Description

Torch services Wirecut configuration error. Torch Services was unable

to find: arg/arg in PROC configuration.

111707, Torch Services Error

Description

Torch services Wirecut configuration error. Torch Services tried to

access an illegal type: arg/arg in PROC configuration.

111708, Torch Services Error

Description

Torch services Wirecut configuration error. Torch Services

experienced an unknown error trying to access: arg/arg in PROC

configuration.

6 Trouble shooting by Event log

3953HAC020738-001 Revision: K

111709, Torch Services Error

Description

Torch services Wirecut configuration error. IO arg NOT found.

111710, Torch Services Error

Description

Torch services MechClean configuration error. Check PROC cfg

domain.

111711, Torch Services Error

Description

Torch services Spray configuration error. Check PROC cfg domain.

111712, Torch Services Error

Description

Torch services Spray configuration error. Torch Services was unable to

find: arg/arg in PROC configuration.

111713, Torch Services Error

Description

Torch services Spray configuration error. Torch Services tried to

access an illegal type: arg/arg in PROC configuration.

111714, Torch Services Error

Description

Torch services Spray configuration error. Torch Services experienced

an unknown error trying to access: arg/arg in PROC configuration.

111715, Torch Services Warning

Description

Torch services Spray has unconfigured IO.

111716, Torch Services Warning

Description

Torch services Wirecut has unconfigured IO.

111717, Torch Services Warning

Description

Torch services MechClean has unconfigured IO.

111751, Navigator Configuration Error

Description

Navigator configuration error. IO arg NOT found.

111752, Navigator Configuration Error

Description

Navigator configuration error. Navigator was unable to find: arg/arg in

PROC configuration.

111753, Navigator Configuration Error

Description

Navigator configuration error. Navigator tried to access an illegal type:

arg/arg in PROC configuration.

111754, Navigator Configuration Error

Description

Navigator configuration error. Navigator experienced an unknown

error trying to access: arg/arg in PROC configuration.

111755, Navigator error

Description

Sphere with name arg could not be localized.

Probable causes

Nominal point doesn't have sufficient accuracy.

Search radius is too small.

111756, Navigator Configuration Warning

Description

Navigator has unconfigured IO.

111800, Illegal tuning parameter

Description

Task:arg

Context: arg

arg is not a valid tuning parameter.

Arcitune only allows parameters 20 to 29 and 31 to 41.

111801, Illegal Schedule Number

Description

Task:arg

Context: arg

arg is not a valid schedule number.

Arcitune only allows schedules 1 to 99.

111802, Unsupported SID-file version

Description

Task:arg

Context: arg

The SID-file version is not supported.

6 Trouble shooting by Event log

396 3HAC020738-001 Revision: K

111803, Default I/O Unit is Not Specified

Description

Task:arg

No default io unit specified

InstancePath: /PROC/ARCI_USER_PROP/arg

Attribute: use_default_io

111804, Configuration Data is Not Found

Description

Task:arg

InstancePath: arg

Attribute: arg

111805, EPROM Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111806, RAM Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111807, External RAM Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111808, Power Supply Voltage 5V Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111809, High DC Voltage Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111810, High Temperature Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111811, High Primary Current Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111812, DC Voltage Error

Description

WDU: 3 V (battery)

PS: +15 VC

I/O unit: arg

Error code: arg

Internal unit: arg

111813, DC Voltage Error

Description

PS: -15 VC

I/O unit: arg

Error code: arg

Internal unit: arg

111814, DC Voltage Error

Description

PS: +15 VB

I/O unit: arg

Error code: arg

Internal unit: arg

111815, Current-servo / Wire speed-servo Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111816, Communication Error

Description

Internal bus warning.

I/O unit: arg

Error code: arg

Internal unit: arg

6 Trouble shooting by Event log

3973HAC020738-001 Revision: K

111818, Communication Error

Description

Internal bus is off.

I/O unit: arg

Error code: arg

Internal unit: arg

111819, Message Lost

Description

A message has been lost on the internal bus.

I/O unit: arg

Error code: arg

Internal unit: arg

111821, Lost Contact with MEK

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111822, Lost Contact with LUD

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111823, Battery Driven Memory Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111824, Unaccepted Settings

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111825, Incompatible Settings

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111826, Overflow in Transmit Buffer

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111827, Overflow in Receive Buffer

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111829, Incompatible Weld Data Format

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111830, Watchdog Error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111832, Stack Overflow

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111833, No Water Flow

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111834, Lost Contact with TIG Card

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111850, Invalid Tuning Parameter

Description

Task:arg

6 Trouble shooting by Event log

398 3HAC020738-001 Revision: K

Context: arg

arg is not valid as a tuning parameter.

MigRobTune allows parameters 20 to 29 and 31 to 41.

111851, Invalid Schedule Number

Description

Task:arg

Context: arg

arg is not a valid schedule number.

MigRobTune only allows schedules 1 to 99.

111852, Unsupported SID File

Description

Task:arg

Context: arg

The SID file version is not supported.

111853, Default I/O Unit is Not Specified

Description

Task: arg

Default I/O unit is not specified.

InstancePath: /PROC/MIGROB_USER_PROP/arg

Attribute: use_default_io

111854, Configuration Data is Not Found

Description

Task:arg

InstancePath: arg

Attribute: arg

111855, Schedule does not exist

Description

The schedule arg does not exist in the power source arg, in arg.

Consequences

The welding results will not be as expected.

Recommended actions

Make sure that the schedule has been created before using it in a weld

instruction.

111856, Program memory error (EPROM)

Description

The program memory is damaged in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

111857, Microprocessor RAM error

Description

The microprocessor is unable to print/read to the internal memory in

unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

111858, External RAM error

Description

The microprocessor is unable to print/read to the external memory in

unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

111859, 5V power supply low

Description

The power supply voltage is too low in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process is stopped and starting is prevented.

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

111860, Intermediate DC voltage outside limits

Description

The voltage is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The power unit is stopped and cannot be started.

Probable causes

Too high a voltage can be due to severe transients on the mains power

supply or to a weak power supply (high inductance of the supply or a

phase missing).

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

6 Trouble shooting by Event log

3993HAC020738-001 Revision: K

111861, High temperature

Description

The thermal overload-cut has tripped in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process is stopped and cannot be restarted until

the cut-out has reset.

Recommended actions

Check that the cooling air inlets or outlets are not blocked or clogged

with dirt. Check the duty cycle being used, to make sure that the

equipment is not being overloaded.

111862, High primary current

Description

The power unit arg takes too much current from the DC voltage that

supplies it.

Fault code: arg

Internal unit: arg

Consequences

The power unit is stopped and cannot be started.

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

111863, Low battery voltage or power supply

Description

Unit: arg

See description corresponding to the internal unit: arg

WDU: Low battery voltage +3 V

Battery voltage too low in unit arg. If the battery is not replaced, all

stored data will be lost.

PS: +15 V power supply

The power supply is too high or too low in unit arg.

Fault code: arg

Recommended actions

Send for a service technician.

111864, -15 V power supply

Description

The power supply is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Send for a service technician.

111865, +24 V power supply

Description

The power supply is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Send for a service technician.

111866, Current-servo / wire speed-servo error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111867, Communication error (warning)

Description

The load on the system's CAN-bus is temporarily too high in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The power unit/wire feed unit has lost contact with the welding data

unit.

Recommended actions

Check that all the equipment is correctly connected. If the fault

persists, send for a service technician.

111869, Communication error

Description

The system's CAN-bus has temporarily stopped working due to the

load being too high.

Fault code: arg

Internal unit: arg

Consequences

The current welding process stops.

Recommended actions

Check that all the equipment is correctly connected. Turn off the mains

power supply to reset the unit. If the fault persists, send for a service

technician.

111870, Messages lost

Description

The microprocessor is unable to process incoming messages

sufficiently quickly and information has been lost in unit arg.

Fault code: arg

Internal unit: arg

6 Trouble shooting by Event log

400 3HAC020738-001 Revision: K

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

111872, Lost contact with MEK

Description

Unit: arg

Fault code: arg

Internal unit: arg

111873, Lost contact

Description

The welding data unit(WDU) has lost contact with the power unit(PS)

in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process stops.

Recommended actions

Check the cables. If the fault persists, send for a service technician.

111874, Memory error in battery-supplied data

memory RAM

Description

The battery has lost voltage in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. The welding data

unit is reset.

111875, Non-permitted set values stored in

RAM

Description

Non-permitted values have been discovered at start-up in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Delete all data contained in the welding data unit.

Turn off the mains power supply to reset the unit. The welding unit is

reset.

111876, Incompatible set values stored in RAM

Description

Non-permitted welding data combinations have been specified in unit

arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

111877, Transmit buffer overflow

Description

The welding data unit does not manage to transmit information to the

other units sufficiently quickly in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit.

111878, Receiver buffer overflow

Description

The welding data unit does not manage to process information from

the other units sufficiently quickly.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit.

111880, Incompatible weld data format

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111881, Program error

Description

Something has prevented the processor from performing its normal

duties in the program in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The program restarts automatically. The current welding process will

be stopped.

Recommended actions

Review the handling of welding programs during welding. If the fault

is repeated, send for a service technician.

111883, Lost program data

Description

Program execution does not work in unit arg.

6 Trouble shooting by Event log

4013HAC020738-001 Revision: K

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

111884, No water flow

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111885, Lost contact with TIG card

Description

I/O unit: arg

Error code: arg

Internal unit: arg

111900, Item target buffer full

Description

Target buffer full for Work Area arg.

Target number: arg.

Scene number arg.

111901, Push without any strobe

Description

Push received without any corresponding strobe signal is received for

Work Area arg.

Push scene number arg

Latest received strobe arg

Recommended actions

Check hardware connections

111902, Push received too late

Description

Push of items was received too late to Work Area arg.

Corresponding Work Object already overwritten.

Push scene number arg.

Latest received strobe arg.

Recommended actions

Check the position generation frequency.

111903, Conveyor limits error

Description

Error in Work Area arg

Conveyor arg

The limits are incorrect specified.

Recommended actions

Required: Enter < Exit

or: Enter < Start < Stop < Exit

Given: arg

111904, Trig distance warning

Description

Trig distance is too long for conveyor arg.

Trig distance is set to maximum.

Max: arg.

Given: arg.

111905, Trig distance warning

Description

Trig distance is too short for conveyor arg.

Trig distance is set to minimum.

Min: arg

Given: arg.

111913, Prepared for PickMaster option not

installed.

Description

The Prepared for PickMaster option has not been correctly installed in

the system.

Recommended actions

Reinstall the system using a proper key containing the Prepared for

PickMaster option.

111914, Uplink message failed

Description

The system failed to send an uplink message.

Status: arg

Recommended actions

Check network connection.

Check state of remote system.

111915, Failed to open Work Object

Description

An error occurred when opening Work Object: arg for Work Area: arg.

Status arg.

Consequences

The program execution is immediately halted.

6 Trouble shooting by Event log

402 3HAC020738-001 Revision: K

Probable causes

No Work Object arg exist in loaded RAPID modules.

Recommended actions

Check that the Work Object data name exists.

111916, Tool name is missing for target

Description

There was no tool for target in Work Area: arg.

Status arg.

Recommended actions

Check the tool name for target.

111917, Action list name missing

Description

There was no action list name for target in Work Area: arg.

Status arg.

Recommended actions

Check the tool name for target.

111918, Work Object name is missing for Work

Area

Description

There was no Work Object for Work Area: arg.

Status arg.

Recommended actions

Check the Work Object name for Work Area.

111920, Missing tooldata for generated

operation set

Description

Tooldata not found for generated operation set on work area arg.

Consequences

The project can not be run.

Probable causes

Tooldata not properly configured for the robot in the PickMaster line

configuration.

Recommended actions

Check used tooldatas in the PickMaster line configuration.

111921, Target reset after move of Program

Pointer

Description

The current target in work area "arg" with arg products are reset to its

origin and will be executed again.

Consequences

The current target and operation arg from layer arg will be executed

once again.

Probable causes

The PP was moved without any target was finished.

Since the program context cannot be secured, the whole operation will

be executed from beginning.

Recommended actions

Make sure the tool is empty and cleared, since the whole cycle will be

executed from beginning.

Restart in reduced speed to avoid unexpected behavior.

111922, Targets lost after move of Program

Pointer

Description

arg targets with arg products in work area "arg" are lost because the

operation was interrupted.

Consequences

The current target and operation arg from layer arg will be lost.

Probable causes

The PP was moved after at least one target in the operation was

finished.

Since the program context cannot be secured, next operation will be

executed.

Recommended actions

Make sure the tool is empty and cleared, since the whole cycle will be

executed from beginning. An unfinished operation may be finished

manually.

Restart in reduced speed to avoid unexpected behavior.

111923, Targets lost after LOST acknowledge

Description

arg targets with arg products in Work Area "arg" are lost because the

operation was interrupted.

Consequences

The current target and operation arg from layer arg will be lost.

Probable causes

The last target acknowledge was set to LOST after at least one target

in the operation was finished.

Since the operation cannot be finished, next operation will be

executed.

Recommended actions

Make sure the tool is empty and cleared, since the whole cycle will be

executed from beginning. An unfinished operation may be finished

manually.

Restart in reduced speed to avoid unexpected behavior.

6 Trouble shooting by Event log

4033HAC020738-001 Revision: K

111924, Operation handler not in use

Description

Task: arg

Function arg failed. The current targets in this operation are lost.

Program Ref. arg

Consequences

It is not possible to finish this operation. The execution will stop if no

action is taken in an ERROR handler.

Probable causes

This might be caused by a pulse on the Robot Execution signal after

the operation descriptor has been fetched. It is more likely to occur if

the operation is a multidrop.

Recommended actions

1. Move PP to main and restart the execution.

2. Use an ERROR handler and run i.e. ExitCycle.

Recovery: arg

111925, Failed to open PM work area signal

Description

An error occurred when opening signal arg configured in PickMaster

for work area: arg. (Internal status arg.)

Consequences

The current PickMaster project will not execute.

Probable causes

The work area signal is missing in the I/O configuration of the robot

controller.

The I/O unit is not running.

Recommended actions

1. Check the signal name in the Work Area configuration of

PickMaster.

2. Check the signal name in the I/O configuration of the robot

controller.

3. Check if the I/O unit is running.

111926, Triggering too frequently

Description

A new pulse on signal arg is to be requested before the previous pulse

has finished. The signal is still high. The configured pulse length is arg

ms.

Consequences

The operation fails to complete its task.

Probable causes

The pulse length is too long or the pick and place operation is very

short.

Recommended actions

Decrease the configured pulse length.

111927, PM group signal too short for work area

Description

PickMaster group signal arg configured for work area arg has too few

bits. Required number of bits is arg.

Consequences

The current project can not execute.

Probable causes

The signal has to few bits defined in the I/O configuration of the

controller.

Recommended actions

Check the controller I/O configuration of the signal.

111950, No PickMaster Flow to Retrieve

Description

Task: arg

Instruction arg failed.

Program Ref. arg

Probable causes

There is no flow ready when executing instruction.

No arg or a low value is used on arg in this instruction.

Recommended actions

Use an error handler and do a RETRY on instruction. If a arg is used,

and

this error occur often, increase the arg.

Recovery: arg

111951, Value Error

Description

Task: arg

Illegal value in argument arg.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

Error in the RAPID program.

Recommended actions

Check the value.arg must be a positive integer.

111952, Execution Error

Description

Task: arg

The task is not allowed to execute the instruction arg.

Program Ref. arg

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Probable causes

The task is not configured to control mechanical units

Recommended actions

Change the configuration or remove the instruction.

111953, Can not retrieve operation

Description

Task: arg

Instruction arg failed.

Program Ref. arg

Probable causes

There is no operation to retrieve when executing instruction.

No arg or a low value is used on arg in this instruction.

Recommended actions

Use an error handler and do a RETRY on instruction. If a arg is used,

an this error occur often, increase the arg.

Recovery: arg

111954, Can not retrieve targets

Description

Task: arg

Instruction arg failed.

Program Ref. arg

Probable causes

There is no target ready when executing instruction.

No arg or a low value is used on arg in this instruction.

Recommended actions

Use an error handler and do a RETRY on instruction. If a arg is used,

an this error occur often, increase the arg.

Recovery: arg

111956, Wrong value on in parameter arg

Description

Task: arg

Parameter arg has value arg. The only values that can be used for arg

are the predefined values for:

arg

Program Ref: arg

Consequences

The program execution is immediately halted.

Probable causes

Wrong value on in parameter arg.

Recommended actions

Change value on in parameter arg.

111957, No active project

Description

Task: arg

Instruction/function arg has detected that the project has been stopped.

The RAPID can not continue its execution without an active project.

Program Ref:arg

Consequences

The program execution is immediately halted.

Probable causes

1) Project has been stopped.

2) A power fail has occurred, and the RAPID program has been started

without starting the project again.

3) A warm start has been done, and the RAPID program has been

started without starting the project again.

Recommended actions

Start a project.

In some cases PP must be moved to main.

111958, No active project

Description

Task: arg

Instruction arg failed.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

There is no project running when executing instruction.

No arg or a low value is used on arg in this instruction.

Recommended actions

Use an error handler and do a RETRY on instruction.

Recovery: arg

111959, Not valid work object data

Description

Task: arg

Instruction arg failed.

No Work Area has reference to work object data named arg.

Program Ref. arg

Consequences

The program execution is immediately halted.

Recommended actions

Use an error handler and do a RETRY on instruction with another work

object data as parameter.

Recovery: arg

6 Trouble shooting by Event log

4053HAC020738-001 Revision: K

111960, Invalid descriptor used

Description

Task: arg

Instruction arg failed.

The Work Area descriptor that is used refers to an object that does not

exist.

Program Ref.arg

Consequences

The program execution is immediately halted.

Probable causes

An instruction/function is executed without a valid descriptor.

The Work Area descriptor has not been fetched correctly, or it is a

restart after power fail.

Recommended actions

Check manual about how to get valid descriptors for Work Areas.

111961, No PickMaster Flow to Retrieve

Description

Task: arg

Instruction arg failed.

Program Ref. arg

The flow has been deleted when the instruction arg returned the flow.

Consequences

The program execution is immediately halted.

Probable causes

The flow has been removed.

Recommended actions

Restart project.

111962, Invalid target handle

Description

Task: arg

Instruction arg failed.

The target handle that is used refer to an object that does not exist or is

not initialized.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

An instruction/function is executed without a valid descriptor.

The target handle has not been fetched correctly, or it is a restart after

power fail.

Recommended actions

Restart the project or rewrite the RAPID program.

111963, Invalid action handle

Description

Task: arg

Instruction arg failed.

The action handle that is used refer to an object that does not exist or

is not initialized.

Program Ref. arg

Consequences

The program execution is immediately halted.

Probable causes

An instruction/function is executed without a valid handle.

The action handle has not been fetched correctly, or it is a restart after

power fail.

Recommended actions

Restart the project or rewrite the RAPID program.

111964, Error event trigged

Description

Task: arg

Instruction arg failed.

The Work Area arg is set in error state after an error event.

Program Ref. arg

Consequences

It is not possible to execute the program until the error is solved.

Probable causes

1. The error source signal has set the Work Area in error state.

2. Stop immediately has been used from FlexPendant.

3. An internal process error has occurred.

Recommended actions

Solve the cause of the error situation and use one of the restart options

from FlexPendant

112000, Failed to open signal

Description

An error occurred when opening signal arg for arg.

The signal should be of type arg.

Status arg.

Consequences

The execution is stopped immediately.

Probable causes

Wrong signal type or signal name.

Recommended actions

Check the signal name and type.

6 Trouble shooting by Event log

406 3HAC020738-001 Revision: K

112001, PickMaster Flow Error

Description

The flow with name arg is in an internal error state.

Consequences

The flow is stopped and will not be used until the project is stopped and

restarted again.

Probable causes

An internal error has occurred.

Recommended actions

Save the system diagnostics under Control Panel - Diagnostics and

send to Robotics Product Support.

112002, Failed to Retrieve PickMaster Format

Description

The flow arg failed to request a format with index arg.

The reply came from Work Area arg.

Consequences

The flow is stopped immediately.

Probable causes

The setup file is corrupted or incomplete.

Wrong response from IO signals.

Recommended actions

Verify the project setup using PickMaster PC application.

Look for internal errors.

112003, Uplink message failed

Description

The system failed to send an uplink message.

Status: arg

Recommended actions

Check network connection.

Check state of remote system.

112050, Project arg starting

Description

Project arg is starting.

112051, Project arg started

Description

Project arg is now started.

112052, Project arg stopped

Description

Project arg stopped

112053, Failed to start project arg

Description

Failed to start project arg.

Check event logs for more information why the project could not be

started.

Check for internal errors too.

Consequences

The project is not started, it is set in stop state.

Probable causes

The XML file is corrupted, or some internal error occurred.

Recommended actions

Check XML file, and check event logs for more information why the

project could not be started.

112054, Project arg already started

Description

Project arg is already started.

Stop the project, and start it again if the project has been changed.

Consequences

The execution will continue.

Probable causes

Multiple use of RAPID instruction PmStartProj with the same project

name arg.

Recommended actions

Stop project if the setup has been changed, and start it again.

112055, A project is already started

Description

A project arg is already started. Another project

can not be started until the already started project is stopped.

Consequences

The project arg is not started.

The program execution is immediately halted if the start

order was from RAPID.

Probable causes

Multiple start orders using different project names.

Recommended actions

Check the projects that are started. Remove one of the starts.

6 Trouble shooting by Event log

4073HAC020738-001 Revision: K

112056, Data List Full

Description

Internal data list was full when trying to store the variable arg.

Consequences

Targets depending on this variable will not be executed.

Probable causes

The project is probably too large.

Recommended actions

Reconfigure the project.

112057, Project name is an empty string

Description

The name of the project to start is not valid.

Consequences

Project not started. The program execution is

immediately halted

Probable causes

The project name has not been initiated.

Recommended actions

Check the project name used when starting project.

112058, Stop of project ordered during start

Description

A stop order has been received during startup of project arg.

Consequences

Project arg is not started.

Probable causes

Stop during start of project. The stop can be from another client or

another RAPID task.

Recommended actions

Do not stop project until it has been started correctly.

112059, Ongoing start of project

Description

A start of the project arg is executed right now.

Consequences

If the start order comes from RAPID, the RAPID execution is

immediately stopped.

Probable causes

Start orders from multiple clients or RAPID tasks at the same time

Recommended actions

Start project only one time.

112060, Stop of project ordered during start

Description

RAPID execution stopped during start of project.

The project arg is not started.

Consequences

RAPID execution is immediately stopped. Project arg is not started.

Probable causes

A project stop order from PickMaster, FlexPendant or RAPID when a

start of a project is executed.

Recommended actions

Try to start project again.

112100, PickMaster project file is too old

Description

The arg file is not supported by this RobotWare.

Consequences

The required project file is too old and the project is therefore stopped.

Probable causes

The PickMaster version used to configure this project is too old for this

RobotWare.

Required version by RobotWare: arg

PickMaster version used to create file: arg

Recommended actions

Update the project using at least version arg of PickMaster.

112101, Required PickMaster file could not be

opened

Description

The file below could not be opened.

arg

Status: arg

Consequences

The project can not be loaded or can not continue execution.

Probable causes

The file is missing or has been tampered.

Recommended actions

Re-transfer the project from the PickMaster PC.

112102, Missing attribute in node

Description

The node is missing attribute "arg".

6 Trouble shooting by Event log

408 3HAC020738-001 Revision: K

Consequences

The requested information could not be found. The execution of the

project is stopped.

Probable causes

The PickMaster project file has been tampered.

Recommended actions

Re-transfer the project from the PickMaster PC.

112150, Failed to request new target set

Description

The target pump process "arg" failed to request new target set from

project.

Consequences

Last trigged operation set can not be pushed into the Work Area queue.

Probable causes

The trigged operation set (arg) is not configured in the project.

The trigged combination of product I/O value (arg) and format I/O

value (arg) is not configured in the project.

Status: arg

Recommended actions

Review the project setup.

Check the product and format selection groups signal values.

112151, Incorrect target set

Description

The target set sent to the pump process "arg" is not the requested one.

Consequences

Last trigged operation set can not be pushed into the Work Area queue.

Probable causes

The trigged operation set is not correct (arg) or the trigged I/O values

are not correct (arg)

Status: arg

Recommended actions

Review the project setup.

Check the selection group signal values.

112152, Response error for work area

Description

Response error occured for slave work area arg.

Targets generated (product = arg, format = arg) does not match

positions requested (product = arg, format = arg).

Consequences

The work area has entered a reponse error state.

The robot will not access the work area until the correct targets are

generated.

Any flow using the work area may become blocked from execution.

Probable causes

The product selection I/O values for position request and target

generation is not the same.

The format selection I/O values for position request and target

generation is not the same.

Recommended actions

Verify sequence logic and I/O values of external equipment setting the

product and/or format I/O signals (i.e. a PLC).

To recover from the response error:

1) Verify that the requested targets are available on the work area.

2) Trigger a new target generation with correct I/O selection values.

112200, Failed to Open Signal

Description

An error occurred when opening the Trigger Event Signal.

Signal name: arg

Consequences

It will not be possible to use any PickMaster error recovery

functionalities that can be generated from IO signals.

Probable causes

The signal name is not configured in the IO configuration.

Recommended actions

Verify theTrigger Event Signal name using the PickMaster PC

application.

112201, Failed to Open Signal

Description

An error occurred when opening the Error Source Signal.

Signal name: arg

Consequences

It will not be possible to set any PickMaster source in an error state.

Probable causes

The signal name is not configured in the IO configuration.

Recommended actions

Verify the Error Source name using the PickMaster PC application.

112202, Failed to Open Signal

Description

An error occurred when opening the Event Message Signal.

Signal name: arg

Consequences

It will not be possible to use the PickMaster message functionality.

Probable causes

The signal name is not configured in the IO configuration.

6 Trouble shooting by Event log

4093HAC020738-001 Revision: K

Recommended actions

Verify the Event Message name using the PickMaster PC application.

112203, Wrong PickMaster Error Source Value

Description

The value that was read, arg, after an event was trigged does not match

one or several configured bits in the IO signal arg.

Consequences

The system goes to SYS STOP state.

Recommended actions

Verify the configuration using the PickMaster PC application.

Verify external equipment generating the signal value.

112204, Wrong PickMaster Message value

Description

The value that was read, arg, after an event was trigged does not match

any configured values in the IO signal arg.

Recommended actions

Verify the configuration using the PickMaster PC application.

Verify external equipment generating signal value.

112250, PickMaster project size limitation

Description

Not enough memory for PickMaster project.

Consequences

Not possible to run the selected PickMaster project.

Probable causes

The selected project contains too much data to be handled by the robot

controller.

Recommended actions

Reduce number of objects in the PickMaster project, e.g. reduce

number of work areas, operation sets, flows, formats and products.

Reduce object complexity in the PickMaster project, e.g. reduce

number of layers in used pallet patterns.

112350, Target configuration outside reach

Description

Task: arg

A valid robot configuration within reach was not found for target.

Program Ref: arg

Consequences

The robot is not able to move to the target position.

Probable causes

The target position is outside reach.

A robot configuration was not found within reach for the target.

Recommended actions

Move the target position within the reach of the robot.

Check if the target position is possible to reach without robot

configuration control (ConfJ\Off, ConfL\Off). Use an error handler

and do a RETRY on instruction. ERRNO for recovery = arg .

112351, Failed to calculate axis limit

Description

Task: arg

Calculating the axis limit failed.

Program Ref: arg

Consequences

The axis angle can not be calculated due to the angel limitations.

Probable causes

Too narrow angel limits.

Recommended actions

Review the limits for the instructions.

Use an error handler and do a RETRY on instruction.

Recovery: arg

112352, Wrong limitation value

Description

Task: arg

The coordinate limits are not valid.

Program Ref: arg

Consequences

The coordinate is not possible to calculate.

Probable causes

Wrong limit values.

Recommended actions

Review the limits for the instructions.

Use an error handler and do a RETRY on instruction.

Recovery: arg

112353, Wrong intermediate part value

Description

Task: arg

The intermediate part value is not valid. The InterMidPart argument

must be between 0 and 1.

Program Ref: arg

Consequences

The intermediate position is not possible to calculate.

Probable causes

Wrong InterMidPart value.

6 Trouble shooting by Event log

410 3HAC020738-001 Revision: K

Recommended actions

Review the InterMidPart for the instruction.

112354, Unknown event signal name

Description

Task: arg

The event signal name arg is unknown.

Program Ref: arg

Consequences

The event can not be defined.

Probable causes

Wrong signal name in the PickMaster project or line configuration.

Recommended actions

Review the signal name in the PickMaster project or line

configuration.

112355, Too many events

Description

Task: arg

There are too many trig events defined for one move. Maximum 6 are

allowed but in this case there are arg defined.

Program Ref: arg

Consequences

All events can't be set.

Probable causes

Error in the PickMaster configuration.

Recommended actions

Review the PickMaster configuration.

112356, Unknown event type

Description

Task: arg

The event type arg is unknown.

Program Ref: arg

Consequences

The event can't be set.

Probable causes

Error in the RAPID code.

Error in the PickMaster configuration.

Recommended actions

Check if the event type number is defined among the built-in variables

of type pm_eventtype.

Review the PickMaster configuration.

112357, Unknown target action type

Description

Task: arg

The target action type arg is unknown.

Program Ref: arg

Consequences

The action can't be performed.

Probable causes

Error in the RAPID code.

Error in the PickMaster configuration.

Recommended actions

Check if the action type number is defined among the built-in variables

of type pm_actiontype.

Review the PickMaster configuration.

112358, Unknown move type

Description

Task: arg

The move type arg is unknown.

Program Ref: arg

Consequences

The move can't be performed.

Probable causes

Error in the RAPID code.

Error in the PickMaster configuration.

Recommended actions

Check if the move type number is defined among the built-in variables

of type pm_movetype.

Review the PickMaster configuration.

112359, Stack search detected empty stack

Description

Stack search detected empty stack.

Task: arg

Instruction arg failed.

Program Ref. arg

Consequences

Not possible to finish current operation unless an error handler is

implemented.

Probable causes

1) Stack is empty or:

2) Tool center point for Search Tool data, Tool configuration, is not

correctly defined.

3) The expected location of the stack is not correct.

4) The search stop signal was not triggered correctly.

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Recommended actions

If the stack not is empty:

Check definition of tool center point for Search Tool data.

Check definition of work object, tune frame, work area frame

and displacement frame.

Check that the search stop signal is triggered correctly.

If the stack is empty:

This error can be recovered using the error handlers of the

Operate() and OperateSequence() routines.

Recovery: arg.

1) Set the Redo Search signal after adjusting the stack.

2) Use RETRY to rerun Operate.

112360, Stack search adjusted stack layers

Description

Stack search adjusted the number of available layers in stack.

Task: arg

Instruction: arg.

Program Ref. arg

Probable causes

Actual stack height was lower than configured in PickMaster.

Recommended actions

No actions are required.

The default error handlers of the Operate() and OperateSequenc()

routines will

recover the error.

Recovery: arg

112361, Unknown search type

Description

Task: arg

Search type arg is unknown.

Program Ref: arg

Consequences

Stack search can not be completed.

Probable causes

Errors in rapid code.

112362, Unknown search stop type

Description

Task: arg

Search stop type arg is unknown.

Program Ref: arg

Consequences

Stack search can not be completed.

Probable causes

Errors in rapid code.

112363, Stack search stop height mismatch

Description

Task: arg

The configured stop height = arg mm, was reached during stack search

movement without detecting the stack height. The bottom layer of the

stack is expected below the stop height.

Program Ref: arg

Consequences

The stack height could not be properly adjusted after stack search.

Probable causes

The configured stop height is set too high.

The configured displacement frame offset for the operation set is set

too low.

The work area on-line tuning offset is set too low.

Recommended actions

Check the configured stop height.

Check the configured displacement frame offset for the operation set.

Check the work area tuning offset.

112364, PickMaster Tool Event Timeout

Description

Task: arg

A timeout has occurred while waiting for signal arg to get its correct

value(arg).

Program Ref: arg

Consequences

The robot movement is halted until the signal condition is met.

A new wait period is requested and the timeout is set to arg s.

112365, Not Valid Signal

Description

Task: arg

The signal arg is not correct used for current instruction.

Program Ref: arg

Consequences

The RAPID execution will stop immediately and it is not possible to

recover from this error until the faulty signal is corrected.

Probable causes

1. The signal is unknown in the system. If the signal is defined in the

RAPID program, it must be connected to the configured signal with

instruction AliasIO.

2. Signal argument is outside allowed limits.

3. There is no contact with the IO unit. The unit may have been

disabled (IODisable "UNIT1", 1;). No power to the unit.

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Recommended actions

All signals (except AliasIO signals) must be defined in the system

parameters and can not be defined in the RAPID program.

Used group digital signal can not set required value according to

configuration in system parameters.

112367, The Requested Project Could Not Be

Found

Description

Task: arg

The requested project arg could not be found in the PickMaster project

folder. The project can be identified both with its name and its selection

value.

Program Ref: arg

Consequences

It is not possible to get any information about the project.

Probable causes

1. The requested project is not transferred from PickMaster PC.

2. The mapping between project and signal is wrong or missing.

Recommended actions

Recovery: arg

112368, The Requested Flow Could Not Be

Found

Description

Task: arg

The requested flow arg could not be found in the loaded project. The

flow can be identified both with its name and its selection value.

Program Ref: arg

Consequences

It is not possible to get any information about the flow.

Probable causes

1. The requested flow is not configured in the project.

2. The mapping between flow and signal is wrong or missing.

Recommended actions

Recovery: arg

112369, The Requested Flow Could Not Be

Found

Description

Task: arg

The requested flow arg could not be found in the loaded project.

Program Ref: arg

Consequences

The RAPID program will immediately be halted.

Probable causes

The requested flow is not configured in the project.

Recommended actions

Check that the flow name is a member of the project.

112370, Not a Valid Stop Option

Description

Task: arg

The supplied stop options value is arg. The supported value must be in

the range arg.

Program Ref: arg

Consequences

It is not possible to stop the flow arg.

Recommended actions

Recovery: PM_ERR_INVALID_FLOW_STOP_OPTION

112371, No Running Project

Description

Task: arg

There is no running project and the flow arg can for that reason not be

accessed.

Program Ref: arg

Probable causes

The project has been stopped or is not yet started.

Recommended actions

Recovery: arg

112372, Missing PickMaster signals

Description

Task: arg

One or more of the IO signals that is used for managing projects and

flows are missing.

Program Ref: arg

Consequences

It is not possible to start or stop flows from the IO interface. Project

status signal might also be incorrect.

Probable causes

The signals are not and/or wrong configured in the IO configuration.

One reason can be that an old backup is used.

Recommended actions

This message can be ignored if the IO interface is not used.

6 Trouble shooting by Event log

4133HAC020738-001 Revision: K

112373, The Requested Work Area Could Not

Be Found

Description

Task: arg

The requested Work Area with selection number or variable name arg

could not be found in the loaded project. The Work Area can be

identified both with its descriptor and its selection value.

Program Ref: arg

Consequences

It is not possible to get any information about the Work Area.

Probable causes

1. The requested Work Area is a RAPID variable that is not initialized.

2. The mapping between Work Area and signal value is wrong or

missing.

Recommended actions

Recover: arg

112374, Intermediate position outside reach

Description

An intermediate position cannot be reached by arg when moving from

work area arg to work area arg. Part of intermediate movement = arg

Program reference: arg

Consequences

The robot cannot perform the movement.

Probable causes

Restrictions on x, y or z of the intermediate position.

Recommended actions

Reduce restrictions on x, y, or z of the intermediate position in the

RAPID program, i.e. increase MaxZ or decrease MinZ.

112375, Intermediate axis position outside

reach

Description

An intermediate axis position cannot be reached by arg when moving

from work area arg to work area arg. Part of intermediate movement =

arg %.

Program reference: arg

Consequences

The robot cannot perform the movement.

Probable causes

Restrictions on axis angles of the intermediate position.

Recommended actions

Reduce restrictions on axes angles of the intermediate position in the

RAPID program, e.g. increase MaxAngle, decrease MinAngle.

112376, Required WorkArea is not valid

Description

Task: arg

PmSetRecoverAction with selected recover action requires a valid

WokArea descriptor.

Program Ref: arg

Probable causes

1. Recover action PM_RECOVER_REDO_LAYER and

PM_RECOVER_NEXT_PALLET requires the optional argument

WorkArea to be set.

2. The WorkArea descriptor is not initialized.

3. The WorkArea is not a part of the flow arg.

Recommended actions

Recover: arg

112377, Faulty Recover Action

Description

Task: arg

arg is not one of the supported recover actions.

Program Ref: arg

Consequences

It will not be possible to start the Flow arg if it is set in error state.

Probable causes

The recover action is not one of

PM_RECOVER_CONTINUE_OPERATION,

PM_RECOVER_REDO_LAYER, PM_RECOVER_NEXT_PALLET

or PM_RECOVER_REDO_LAST_PICK.

Recommended actions

Recover: arg

112378, Flow is already starting up

Description

Task: arg

The flow arg is already starting up. Only one call to PmFlowStart is

allowed at each time.

Program Ref: arg

Consequences

The RAPID program is immediately halted.

Recommended actions

Check the RAPID program for multiple use of PmFlowStart to same

flow.

112379, Wrong flow state

Description

Task: arg

It is not possible to start flow arg in current state.

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414 3HAC020738-001 Revision: K

Program Ref: arg

Consequences

The RAPID program is immediately halted.

Probable causes

The flow is probably set in a sever error state that can not be recover

from.

Recommended actions

Recover: arg

112380, Failed to recover from an error state

Description

Task: arg

The start of flow arg from an error state failed.

Program Ref: arg

Consequences

The RAPID program is immediately halted.

112381, Redo last pick is not allowed in current

position

Description

Task: arg

The flow arg can not recover from the error situation with recover

action PM_RECOVER_REDO_LAST_PICK.

Program Ref: arg

Consequences

The flow can not be started until a valid recover action has been set.

Probable causes

The flow can only recover from an error with

PM_RECOVER_REDO_LAST_PICK if the first item is picked and

no items are placed.

Recommended actions

Recover: arg

112382, Project info contains no valid data for

current task

Description

Task: arg

Failed to read project info data.

Program Ref: arg

Consequences

It is not possible to get any information about project settings, i.e. the

names on modules that should be loaded.

Probable causes

The project is already started when a start order from the IO interface

is received.

Recommended actions

Stop project and start it again via the IO interface.

112383, No Running Project

Description

Task: arg

There is no running project and the work area with selection number

or variable name arg can for that reason not be accessed.

Program Ref: arg

Probable causes

The project has been stopped or is not yet started.

Recommended actions

Recovery: arg

112384, Invalid default height

Description

Task: arg

The I/O value of signal arg does not correspond to a valid default

height.

Program Ref: arg

Consequences

It was not possible to set the default height.

Probable causes

The I/O value of arg does not correspond to a valid default height

selection.

Recommended actions

Make sure that arg is set to a proper value before arg is pulsed.

112393, Flow recover with redo last pick

Description

The Flow arg will redo last unfinished operation at next flow start.

Recommended actions

Verify that:

- The tool is empty

- Products from last operation are restored on arg

- The reason for the stop is solved.

112394, Flow recover with continue pick-place

Description

The Flow arg will restart from where it was stopped at next flow start.

Verify that the fault causing the stop has been handled.

Recommended actions

Verify expected number of products:

Tool: arg

WorkArea name/Number of products/Layer number

6 Trouble shooting by Event log

4153HAC020738-001 Revision: K

arg

112395, Flow recover with restart layer

Description

The Flow arg will restart from beginning of layer arg on WorkArea arg

at next flow start.

Recommended actions

Verify that:

- The reason for the stop is solved

- The tool is empty

- Following WorkAreas are empty:

arg

112396, Flow recover with next pallet

Description

The Flow arg will restart from beginning of next pallet on WorkArea

arg at next flow start.

Recommended actions

Verify that:

- The reason for the stop is solved.

- The tool is empty

- Following WorkAreas are empty:

arg

112397, Flow recover with redo last pick

Description

The Flow arg will redo last unfinished operation at next flow start.

Recommended actions

Verify that:

- The tool is empty

- New products can be supplied on arg

- The reason for the stop is solved.

112398, arg

Description

arg

112399, PickMaster Flow Stopped Immediately

Description

The stop option Stop Immediately has been used from the PickMaster

application on FlexPendant.

Consequences

The Flow arg is stopped immediately and a restart of the flow has to

be performed from one of the error restart options. The RAPID

program is stopped if the flow is active in any palletizing operation.

112400, Invalid tuning parameter

Description

Task:arg

Context: arg

arg is not a valid tuning parameter.

112401, Schedule number out of range

Description

Task:arg

Context: arg

arg is not a valid schedule number.

Valid schedules numbers are in the range: arg to arg.

112402, SID file is not compatible

Description

Task:arg

Context: arg

The SID file version is not compatible.

Consequences

The SID file has not been loaded into power source memory.

Probable causes

The SID file was saved from a different power source type or the SID

file has become corrupted.

Recommended actions

If the file has been transfered with FTP program. Are you sure that the

FTP program uses binary transfer mode for this SID file?

If possible, try to recreate the SID file from the origin.

112403, Default I/O unit not defined

Description

Task: arg

The default I/O unit is not defined in configuration.

InstancePath: /PROC/ARISTOMIG_INT_USER_PROP/arg

Attribute: use_default_io

112404, Configuration data not found

Description

Task:arg

InstancePath: arg

Attribute: arg

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112405, SID file corrupt

Description

Task:arg

Context: arg

The SID file is not in the correct format or the file size is incorrect.

Consequences

All the data was not recovered from the file.

Recommended actions

Verify the schedules in the power source. All data might not be

recovered.

112406, Invalid tuning parameter

Description

Task:arg

Context: arg

arg is not a valid tuning parameter in instance arg.

112407, Schedule does not exist

Description

The schedule arg does not exist in the power source arg, in arg.

Consequences

The welding results will not be as expected.

Recommended actions

Make sure that the schedule has been created before using it in a weld

instruction.

112410, Program memory error (EPROM)

Description

The program memory is damaged in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

112411, Microprocessor RAM error

Description

The microprocessor is unable to print/read to the internal memory in

unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

112412, External RAM error

Description

The microprocessor is unable to print/read to the external memory in

unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Restart the machine. If the fault persists, send for a service technician.

112413, 5V power supply low

Description

The power supply voltage is too low in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process is stopped and starting is prevented.

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112414, Intermediate DC voltage outside limits

Description

The voltage is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The power unit is stopped and cannot be started.

Probable causes

Too high a voltage can be due to severe transients on the mains power

supply or to a weak power supply (high inductance of the supply or a

phase missing).

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112415, High temperature

Description

The thermal overload-cut has tripped in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process is stopped and cannot be restarted until

the cut-out has reset.

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Recommended actions

Check that the cooling air inlets or outlets are not blocked or clogged

with dirt. Check the duty cycle being used, to make sure that the

equipment is not being overloaded.

112416, High primary current

Description

The power unit arg takes too much current from the DC voltage that

supplies it.

Fault code: arg

Internal unit: arg

Consequences

The power unit is stopped and cannot be started.

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112417, Low battery voltage or power supply

Description

Unit: arg

See description corresponding to the internal unit: arg

WDU: Low battery voltage +3 V

Battery voltage too low in unit arg. If the battery is not replaced, all

stored data will be lost.

PS: +15 V power supply

The power supply is too high or too low in unit arg.

Fault code: arg

Recommended actions

Send for a service technician.

112418, -15 V power supply

Description

The power supply is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Send for a service technician.

112419, +24 V power supply

Description

The power supply is too high or too low in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Send for a service technician.

112420, Current-servo / wire speed-servo error

Description

I/O unit: arg

Error code: arg

Internal unit: arg

112421, Communication error (warning)

Description

The load on the system's CAN-bus is temporarily too high in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The power unit/wire feed unit has lost contact with the welding data

unit.

Recommended actions

Check that all the equipment is correctly connected. If the fault

persists, send for a service technician.

112423, Communication error

Description

The system's CAN-bus has temporarily stopped working due to the

load being too high.

Fault code: arg

Internal unit: arg

Consequences

The current welding process stops.

Recommended actions

Check that all the equipment is correctly connected. Turn off the mains

power supply to reset the unit. If the fault persists, send for a service

technician.

112424, Messages lost

Description

The microprocessor is unable to process incoming messages

sufficiently quickly and information has been lost in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112426, Lost contact with MEK

Description

Unit: arg

Fault code: arg

Internal unit: arg

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418 3HAC020738-001 Revision: K

112427, Lost contact

Description

The welding data unit(WDU) has lost contact with the power unit(PS)

in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The current welding process stops.

Recommended actions

Check the cables. If the fault persists, send for a service technician.

112428, Memory error in battery-supplied data

memory RAM

Description

The battery has lost voltage in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. The welding data

unit is reset.

112429, Non-permitted set values stored in

RAM

Description

Non-permitted values have been discovered at start-up in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Delete all data contained in the welding data unit.

Turn off the mains power supply to reset the unit. The welding unit is

reset.

112430, Incompatible set values stored in RAM

Description

Non-permitted welding data combinations have been specified in unit

arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112431, Transmit buffer overflow

Description

The welding data unit does not manage to transmit information to the

other units sufficiently quickly in unit arg.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit.

112432, Receiver buffer overflow

Description

The welding data unit does not manage to process information from

the other units sufficiently quickly.

Fault code: arg

Internal unit: arg

Recommended actions

Turn off the mains power supply to reset the unit.

112434, Incompatible weld data format

Description

I/O unit: arg

Error code: arg

Internal unit: arg

112435, Program error

Description

Something has prevented the processor from performing its normal

duties in the program in unit arg.

Fault code: arg

Internal unit: arg

Consequences

The program restarts automatically. The current welding process will

be stopped.

Recommended actions

Review the handling of welding programs during welding. If the fault

is repeated, send for a service technician.

112436, No wire

Description

I/O unit: arg

Error code: arg

Internal unit:arg

112437, Lost program data

Description

Program execution does not work in unit arg.

Fault code: arg

Internal unit: arg

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Recommended actions

Turn off the mains power supply to reset the unit. If the fault persists,

send for a service technician.

112438, No water flow

Description

I/O unit: arg

Error code: arg

Internal unit: arg

112439, Lost contact with TIG card

Description

I/O unit: arg

Error code: arg

Internal unit: arg

112441, No gas flow

Description

I/O unit: arg

Error code: arg

Internal unit:arg

112500, Weld Data Monitor

Description

The configuration is complete for arg

112501, WDM Configuration Error

Description

The configuration failed for arg

Consequences

Weld Data Monitor will be inoperable.

Recommended actions

Please review PROC settings to correct.

112502, WDM Alias IO Error

Description

The signals defined in the PROC are invalid.

Task: arg

Consequences

Weld Data Monitor will be inoperable.

Recommended actions

Please review PROC settings to correct.

112503, WDM Failed to Read WDM_SETTINGS

Description

The 'chart' setting in the WDM_SETTINGS section

of the PROC could not be read.

Task: arg

Consequences

Weld Data Monitor not save charting files.

Recommended actions

Please review PROC settings to correct.

112504, WDM Failed to Read WDM_SETTINGS

Description

The IO signal setting in the WDM_SETTINGS section

of the PROC could not be read.

Task: arg

Consequences

Weld Data Monitor will be inoperable.

Recommended actions

Please review PROC settings to correct.

112505, WDM Failed to Read WDM_STABILITY

Description

The WDM_STABILITY section of the PROC could not be found.

Default values have been applied.

Task: arg

112506, WDM Failed to Read WDM_STABILITY

Description

The WDM_STABILITY section of the PROC could not be read.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

Recommended actions

Please review PROC settings to correct.

112507, WDM Failed to Read WDM_SIGNATURE

Description

The WDM_SIGNATURE or WDM_SIGNATURE_DATA section of

the PROC could not be found.

Default values have been applied.

Task: arg

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112508, WDM Failed to Read WDM_SIGNATURE

Description

The WDM_SIGNATURE or WDM_SIGNATURE_DATA section of

the PROC could not be read.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

Recommended actions

Please review PROC settings to correct.

112509, WDM Failed to Read

WDM_TOLERANCE

Description

The WDM_TOLERANCE section of the PROC could not be read.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

Recommended actions

Please review PROC settings to correct.

112510, WDM Learning Results Stored

Description

A learning cycle has finished for arg in task arg

arg of arg learning cycles completed.

Sample size: arg

112511, WDM Learning Complete

Description

Learning is complete for arg in task arg

arg of arg learning cycles completed.

Sample size: arg

Consequences

Monitoring will be active the next time this seam is welded.

112512, WDM Signature File Inaccessible

Description

The stored signature could not be read.

Seam Name: arg

Task: arg

The file may have been left open by another application.

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle.

112513, WDM Signature File Inaccessible

Description

The stored signature could not be written to.

Seam Name: arg

Task: arg

The file may have been left open by another application.

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle.

112514, WDM Results File Inaccessible

Description

The measured results could not be read.

Seam Name: arg

Task: arg

The file may have been left open by another application.

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle.

112515, WDM Data Reading Timeout

Description

Data could not be read from the binary file within a reasonable time.

Seam Name: arg

Task: arg

Timeout: arg seconds

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Delete the stored WDM files and relearn.

112516, WDM Data Checksum Error

Description

Data read from the binary file did not match the expected size.

Seam Name: arg

Task: arg

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Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Delete the stored WDM files and relearn.

112517, WDM Unknown Error

Description

An unexpected error occurred in WriteSigData.

Seam Name: arg

Task: arg

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Please report to your ABB representative.

112518, WDM Unknown Error

Description

An unexpected error occurred in EvalSigData.

Seam Name: arg

Task: arg

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

Recommended actions

Please report to your ABB representative.

112519, WDM Signature File Too Short

Description

The end of the signature file was reached before welding stopped.

Seam Name: arg

Task: arg

Current number of samples: arg

Consequences

Weld Data Monitor is unable to evaluate this weld seam.

112520, WDM File Access Error

Description

Could not open the binary data file described below.

File: arg

Task: arg

The file may have been left open by another application.

Consequences

Weld Data Monitor will be inoperable.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle. Deleting the file may also

resolve the problem.

112521, WDM File Access Error

Description

Could not close a binary data file.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle. Deleting the file may also

resolve the problem.

112522, WDM File Access Error

Description

Could not seal the binary data file described below.

File: arg

Task: arg

Consequences

Weld Data Monitor will be inoperable.

Recommended actions

Warm starting the controller and starting from the main may resolve

the problem for the next learning cycle. Deleting the file may also

resolve the problem.

112523, WDM Sample Size Error

Description

The number of points stored in the last weld seam does not match the

number stored in the existing signature file.

Seam Name: arg

Task: arg

Measured samples: arg

Signature samples: arg

Consequences

Weld Data Monitor will be unable to evaluate the data from this seam.

112524, WDM Weld End Error

Description

An unspecified error occurred at the end of the seam.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

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Recommended actions

Please contact your ABB representative.

112525, WDM Weld Start Error

Description

An unspecified error occurred at the start of the seam.

Task: arg

Consequences

Weld Data Monitor may be inoperable.

Recommended actions

Please contact your ABB representative.

112526, WDM Learning Started

Description

No previously stored signature exists for arg in task arg. Learning will

begin now.

Learning cycles required: arg

112527, WDM Text Resource Error

Description

Text Resource Error.

Weld Data Monitor could not access text.

Index: arg

File: arg

Task: arg

Recommended actions

Please contact your ABB representative.

112528, WDM Minor Infraction

Description

A minor arg infraction has occurred in seam arg.

Measured value: arg

Maximum limit: arg

Minimum limit: arg

112529, WDM Major Infraction

Description

A major arg infraction has occurred in seam arg.

Measured value: arg

Maximum limit: arg

Minimum limit: arg

112530, WDM Error

Description

An unspecified error has occurred in the Weld Data Monitor for task

arg

Recommended actions

Please contact your ABB representative.

112531, WDM Trigger Ready

Description

Weld Data Monitor is ready to sample data for task arg

112532, WDM Trigger Subscriptions Failed

Description

Weld Data Monitor trigger subscriptions failed for task arg

Consequences

Weld Data Monitor will be inoperable.

112533, WDM Trigger IO Setup Failed

Description

Weld Data Monitor trigger IO connections failed for task arg

Consequences

Weld Data Monitor will be inoperable.

112534, WDM Weave Frequency Error

Description

Weave frequency is too fast for arg in task arg.

Consequences

WDM will reduce sampling rate to a fraction of the weave frequency.

112535, WDM Weave Frequency Error

Description

Weave frequency is too fast for arg in task arg.

Consequences

No monitoring will occur.

Recommended actions

Please reduce weave frequency to enable Weld Data Monitoring.

112536, WDM Weave Change Error

Description

The weave parameters have changed since learning of seam arg in task

arg.

Consequences

No monitoring will occur.

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Recommended actions

Please remove the stored signature and relearn with new parameters.

Or, reinstate old parameters.

112537, WDM Speed Change Error

Description

The weld travel speed has changed since learning of seam arg in task

arg.

Consequences

No monitoring will occur.

Recommended actions

Please remove the stored signature and relearn with new parameters.

Or, reinstate old parameters.

112538, WDM Seam Length Changed

Description

The weld seam length has changed since learning of seam arg in task

arg.

Consequences

No monitoring will occur.

Recommended actions

If the targets defining the seam were intentionally modified, please

remove the stored signature and relearn with the new targets.

112539, WDM Sample Frequency Error

Description

Sampling frequency is too fast for arg in task arg.

Consequences

WDM will reduce sampling rate to a fraction of the requested

frequency.

112540, WDM Sample Frequency Error

Description

Sampling frequency is too fast for arg in task arg.

Consequences

No monitoring will occur.

Recommended actions

Please reduce sampling frequency to enable Weld Data Monitoring.

112541, WDM welddata Change Error

Description

The weld parameters have changed since learning of seam arg in task

arg.

Consequences

No monitoring will occur.

Recommended actions

Please remove the stored signature and relearn with new parameters.

Or, reinstate old parameters.

112542, WDM Synchronizing Samples

Description

The segment number of the stored data is lagging the actual sample.

This is normal behavior associated with execution stops.

Seamname: arg

Task: arg

Consequences

Some samples may have been ignored during the transition between

segments.

112543, WDM Synchronizing Samples

Description

The segment number of the actual sample is lagging the stored data.

This is normal behavior associated with execution stops.

Seamname: arg

Task: arg

Consequences

Some samples may have been ignored during the transition between

segments.

112544, WDM Sample Distance Changed

Description

The weave parameters, or no-weave sample distance, have changed

since learning was finished for seam arg in task arg.

Consequences

No monitoring will occur.

Recommended actions

Please remove the stored signature and relearn with new parameters.

Or, reinstate old parameters.

112600, Init of communication interface failed

Description

Task arg

Communication interface could not be initialized.

Program Ref. arg

Recommended actions

Check communication settings and parameters and restart application.

Recovery: arg

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112601, Incorrect data received.

Description

The data received from remote system is incorrect. It is either a data

error of the remote system, or a wrong message was received.

Recommended actions

Check data and program logic.

112602, Communication interface error.

Description

There is an error detected in the communication with the external

system.

Recommended actions

Check remote system and connection. Restart communication.

112603, Failed to access the config files

Description

The configuration and settings files for the communication interface is

not found in the HOME/GSI folder.

Recommended actions

Check that the HOME/GSI folder exists and that the configuration and

settings files can be found there. Restart communciation.

118800, Integrated PLC not connected

Description

The connection to the integrated PLC was not established or has been

lost.

Consequences

No interaction with the integrated PLC can take place.

Recommended actions

Check the DeviceNet connection between the integrated PLC and the

main computer.

118801, Integrated PLC not application master

Description

The requested command arg can only be executed if the integrated

PLC is operating as the application master.

Consequences

Certain commands can only be executed when the PLC is operating as

the application master.

Recommended actions

Check that the correct application role is defined in FlexPedant

interface for the integrated PLC.

118802, Integrated PLC not application slave

Description

The requested command arg can only be executed if the integrated

PLC is operating as the application slave.

Consequences

Certain comands can only be executed when the PLC is operating as

the application slave.

Recommended actions

Check that correct application role is defined in the FlexPendant

interface of the integrated PLC.

118803, PLC program number invalid

Description

The program number that was specified to be executed on the

intergrated PLC is invalid or not available.

Consequences

This program number can not be executed on the integrated PLC.

Recommended actions

Check that the specified program is handled on the integrated PLC.

118804, PLC program execution running

Description

There is still a program executing on the integrated PLC. A new

program number can first be ordered when the execution has finished.

Recommended actions

Use the optional callback parameter to raise an event when the

program execution has been finished

118805, PLC program number mismatch

Description

The specified program number does not match the number requested

from the integrated PLC.

Recommended actions

Verify the program that the requested program number is handed back

to the acknowledge methods.

118806, Maxiumum execution time exceeded

Description

The maximum time specified for a synchronous program execution

has been exceeded.

Recommended actions

Verify the maximum exuction time defined in the program and

increase it if needed.

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118807, Internal execution error

Description

This error indicates a bug of the implementation on robot controller or

integrated PLC side.

Recommended actions

Please inform your responsible ABB contact person about the error.

118810, Fatal error on integrated PLC

Description

A fatal error occured on the integrated PLC.

Component: arg

Device: arg

Module: arg

Channel: arg

Error: arg

Consequences

A safe operation of the integrated PLC is no longer quaranteed.

Recommended actions

Look up the error code in the AC500 documentation and follow the

instructions to remove the error.

118811, Severe error on integrated PLC

Description

A severe error occured on the integrated PLC.

Component: arg

Device: arg

Module: arg

Channel: arg

Error: arg

Consequences

The integrated PLC is functioning without problems, but the error-free

processing of the user program is no longer quaranteed.

Recommended actions

Look up the error code in the AC500 documentation and follow the

instructions to remove the error.

118812, Light error on integrated PLC

Description

A severe error occured on the integrated PLC.

Component: arg

Device: arg

Module: arg

Channel: arg

Error: arg

Consequences

It depends on the application if the user program should be stopped by

integrated PLC.

Recommended actions

Look up the error code in the AC500 documentation and follow the

instructions to remove the error.

118813, Warning on integrated PLC

Description

A warning occured on the integrated PLC.

Component: arg

Device: arg

Module: arg

Channel: arg

Error: arg

Consequences

It depends on the application if the user program should be stopped by

integrated PLC.

Recommended actions

Look up the error code in the AC500 documentation and follow the

instructions to remove the error.

120001, Out of memory in cfg

Description

There is not enough memory in the cfg database for this operation.

Consequences

The configuration file will not be installed.

Recommended actions

1) Try to use the option: delete existing parameters before loading

when loading the configuration file. This will delete all previous

configuration settings for the domain.

2) Increase the size of the configuration database.

120002, Instance can not be saved

Description

Not allowed to overwrite instance in line arg of file arg.

Consequences

The instance may be write protected and the configuration in file will

not be installed.

Probable causes

Recommended actions

You are not allowed to change the instance.

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120003, Wrong domain version or incorrect file

Description

The cfg domain version of file arg is wrong. The software is made for

version arg.

Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file, and change the version of the cfg

domain.

120004, Line too long

Description

Line arg in file arg contains arg characters, which is more than the

allowed arg.

Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file and reduce the number of characters,

e.g. by splitting the instance into several lines. End each line, except

the last one, with a trailing backslash "\" to achieve this.

120005, Attribute value out of allowed range

Description

Attribute arg on line arg in file arg is out of the allowed range. The

allowed range is < arg> - < arg>.

Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file and change the value on the attribute

to fit inside the allowed range.

120006, Instance name occupied

Description

Instance in line arg in file arg is already occupied.

Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file and change the instance name to add

it to the file OR

2) Use the "Replace" mode to overwrite the instance previously using

the name. This may be selected when loading the configuration file

using RobotStudio, and the procedure is detailed in the RobotStudio

Manual.

120007, Unknown type or attribute in cfg file

Description

Type/attribute in position arg on line arg of file arg is not recognized.

Consequences

The configuration in file will not be installed.

Probable causes

The configuration type may not be installed, illegal/mistyped attribute,

or the name is too long.

Recommended actions

1) Re-edit the configuration file.

120008, Mandatory attribute is missing in cfg

file

Description

Missing mandatory attribute arg on line arg in file arg.

Consequences

The configuration in file will not be installed.

Probable causes

Missing/mistyped mandatory attribute.

Recommended actions

1) Re-edit the configuration file.

120009, Missing instance name in cfg file

Description

Missing instance name on line arg in file arg.

Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file.

120010, Configuration attribute value out of the

allowed range

Description

Configuration attribute arg on line arg in file arg is out of the allowed

range. The max. allowed length is arg characters.

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Consequences

The configuration in file will not be installed.

Probable causes

Recommended actions

1) Re-edit the configuration file and change the value on the attribute

to fit inside the allowed range.

120011, Illegal version string

Description

The version string in configuration file arg has illegal format.

Consequences

The configuration in file will not be installed.

Probable causes

The configuration file is made for a different system version/revision.

The version string in the configuration file is mistyped/missing.

The configuration file is corrupted.

Recommended actions

1) Re-edit the configuration file and change the version string

according to this layout:

"domain":"cfg domain version":"version":"revision"::.

120012, Illegal domain name

Description

The domain name arg in configuration file arg is illegal.

Consequences

The configuration in file will not be installed.

Probable causes

The domain name may be mistyped or the domain is not installed in

the system.

Recommended actions

1) Re-edit the configuration file and change the domain name.

130001, Equipment error

Description

Paint process and motion stopped.

Recommended actions

Check the paint equipment.

130002, Equipment error

Description

Paint process stopped.

Recommended actions

Check the paint equipment.

130003, Trig plane error

Description

In PaintL arg: One trig plane, arg,

are defined outside the programmed

path.

Recommended actions

Change eventdata or reprogram path.

130004, Trig plane error

Description

In PaintL arg: Two trig planes, arg

and arg, are defined outside the

programmed path.

Recommended actions

Change eventdata or reprogram path.

130005, Trig plane error

Description

In PaintL arg: Three trig planes, arg,

arg, and arg, are defined outside the

programmed path.

Recommended actions

Change eventdata or reprogram path.

130006, Trig plane error

Description

In PaintL arg: Four trig planes, arg,

arg, arg and arg, are defined outside the

programmed path.

Recommended actions

Change eventdata or reprogram path.

130007, Trig plane error

Description

In PaintL arg: Four trig planes, arg,

arg, arg and arg and more are defined

outside the programmed path.

Recommended actions

Change eventdata or reprogram path.

130008, Trig plane error

Description

In 'SetBrush n': One trig plane,

arg, is defined outside

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the programmed path.

Recommended actions

Change eventdata or reprogram path.

130009, Trig plane error

Description

More than four 'SetBrush' trig plane

events are defined outside the

programmed path

Recommended actions

Change eventdata or reprogram path.

130010, Conv pos out of reach

Description

Programmed position for conveyor axis

has passed out of reach

Programmed conv pos: arg

Actual conv pos: arg

Note: Only first occasion is reported

Recommended actions

Reduce conveyor speed or modify

programmed robtarget(s).

130011, Trig counter error

Description

Can't allocate trig counters

or there is no free counter

Trig error supervision disabled.

Recommended actions

Reload program to enable

trig error supervision.

130012, ConveyorSync Off

Description

ConveyorSync was turned off because

conveyor speed exceded lower limit

arg per cent

of nominal speed arg

Recommended actions

Check minimum sync speed in PaintWare

parameter.

Check conveyor speed setting.

130013, ConveyorSync On

Description

ConveyorSync was turned on because

conveyor regain nominal speed

arg per cent

of nominal speed arg

Recommended actions

No action needed

The conveyor speed is Ok.

130014, 'Process ready' Timeout

Description

'process ready input' not OK.

Recommended actions

Check equipment connected TO

'process ready input'

Increase 'Proc Ready timeout'

130015, Conveyor running

Description

Signal 'c1NullSpeed' not OK

Recommended actions

Stop conveyor before proceeding

with program execution.

131000, Argument error.

Description

The argument is not an integer.

Recommended actions

Change the argument to an integer.

131001, Argument error.

Description

The argument is not an array.

Recommended actions

Change the argument to an array.

131002, Argument error.

Description

The argument is not a persistent

variable.

Recommended actions

Change the argument to a persistent.

6 Trouble shooting by Event log

4293HAC020738-001 Revision: K

131003, Argument error.

Description

The array argument has too many

dimensions.

Recommended actions

Change the array to one dimension.

131004, Brush table error.

Description

Only brush table arg is allowed.

Recommended actions

Change to allowed brush table.

131005, Brush number error.

Description

Only brush numbers less than or

equal to arg is allowed.

Recommended actions

Change to allowed brush number.

131006, Argument value error

Description

Negative value for argument no. arg

Recommended actions

Change argument value to

a positive number.

131007, Signal 'arg' does not exist

Description

Signal: arg

Task: arg

Context: arg

Recommended actions

Check signal definitions.

Define signal or find an existing signal.

131008, Applicator number error

Description

Applicator number is greater than

number of applicators installed.

Recommended actions

'App' argument (if present) must

be in range from 1 to

'Number of apps'.

131009, Brushfactor too high

Description

Recommended actions

Change brushfactor to a number between

1 and 500.

131010, Brushtable does not exist

Description

The following brushtable does not

exist: arg

Recommended actions

Brushtable must be a persistent array

of datatype brushdata.

131011, Brushtable not an array

Description

The following brushtable is not an

array: 'arg'

Recommended actions

Brushtable must be a persistent array

of datatype brushdata.

131012, Wrong datatype for table

Description

The following brushtable is not of

datatype brushdata:

'arg'

Recommended actions

Brushtable must be a persistent array

of datatype brushdata.

131013, Non-existing signal

Description

The following signal did not exist:

'arg'

Recommended actions

Check signal definitions.

Define signal or find an existing signal

131014, Channel not installed

Description

The factor no. specified in arg arg is

greater than the number of installed

channels

6 Trouble shooting by Event log

430 3HAC020738-001 Revision: K

Recommended actions

Check installed options:

Gun control : Factor no range = <1>

3 ch. system: Factor no range = <1-3>

4 ch. system: Factor no range = <1-4>

131015, Too many trig events

Description

The maximum number of trig events (10) between two PaintL

instructions is exceeded.

Task: arg

Instruction: arg

Context: arg

Recommended actions

Reduce the number of trig events.

131016, Illegal value for signal arg

Description

An attempt was made to set an illegal value arg for signal arg.

Consequences

Signal will not be set.

Recommended actions

Check that signal is within defined limits.

132000, Brush number error.

Description

The brush number is outside the limits

for the activated brush table.

Recommended actions

Change argument within limits.

132001, Brush table error.

Description

There is no brush table activated.

Recommended actions

Activate a brush table.

132002, Brush not activated.

Description

Brush outputs blocked because IpsEnable

for Applicator arg was not active.

Recommended actions

Activate IpsEnable output for this

Applicator.

132003, Equipment Enable rejected

Description

Equipment could not be enabled due

to the following active stop signals:

arg

Recommended actions

Check Emy stop buttons, General mode

stop input and Cabin Interlock input.

Press Emy stop reset

132500, Unable to open symbol.

Description

Output for symbol arg not found.

NOTE: No paint-related outputs available

due to this error.

Recommended actions

1. Output for symbol not defined.

2. Output for symbol has wrong name.

3. Internal problem (memory etc..)

Try a restart.

132501, Paint System not inst.

Description

Paint System not available

or not installed.

Recommended actions

PaintWare process not activated, due to

incomplete Paint System configuration.

1. Use IPS option diskette to install.

2. Custom-configure Paint System

using the Teach Pendant.

132601, PIB contact lost

Description

Controller has lost connection to the PIB board.

Consequences

Controller has entered system failure state.

Probable causes

1. Broken cable

2. High network load.

Recommended actions

Check MainComputer <-> PIB Ethernet cable.

Restart controller

6 Trouble shooting by Event log

4313HAC020738-001 Revision: K

132602, Invalid signal path for signal arg

Description

The path arg is invalid for signal arg

Consequences

This signal will be disabled

Recommended actions

Check that the named device exist on PIB.

132999, Process error context

Description

arg, arg, arg, arg, arg

133000, IPS Cfg Error

Description

Cfg Error: arg

Error accessing IPS config file arg. This config file is stored on one of

the installed IPS nodes.

Recommended actions

1. Check IPS config file for errors.

2. Check if config file is stored on the correct IPS node.

133001, IPS Cfg Error

Description

Cfg Error: arg.

Error in IPS config file arg in line arg. This IPS config file is located

on one of the IPS nodes.

Recommended actions

1. Check in IPS config file for error in given line.

133002, IPS Cfg Error

Description

Syntax Error: arg.

Faulty value for argument arg, in IPS config file arg in line arg. This

IPS config file is located on one of the IPS nodes.

Recommended actions

1. Check in IPS config file for error in given line.

133003, IPS Cfg Error

Description

Assertion error: arg.

Error in IPS config file arg in line arg. This IPS config file is located

on one of the IPS nodes.

Recommended actions

1. Check in IPS config file for error in given line.

133004, IPS Cfg Token Error

Description

Cfg Token Error: arg.

Error in token arg, in IPS config file arg in line arg and character

position arg. This IPS config file is located on one of the IPS nodes.

Recommended actions

1. Check in IPS config file for error in given line.

133005, IPS License Error

Description

License server is not found.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check that the system has a license server.

2. Check status on license server.

3. Check communication towards license server.

133006, IPS License Error

Description

ID chip is not found.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check that ID chip is mounted on ACCB.

133007, IPS License Error

Description

Wrong serial number.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check serial number in license file.

2. Check that correct ID chip is mounted.

133008, IPS License Error

Description

License file is not found. File name must be 'option.lic'.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check that license file exist on license server.

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432 3HAC020738-001 Revision: K

133009, IPS License Error

Description

License code in license file is not correct.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check that the license file on license server is identical to the

original license file.

133010, IPS License Error

Description

Syntax error in license file.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Make sure the original license file is used.

2. Order new license file.

133011, IPS License Error

Description

Option does not exist in license file.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check if option exist in license file.

2. Check if correct license file loaded.

3. Check in IPS config file for errors.

4. Order new license file.

133012, IPS License Error

Description

Counting option has no free licenses.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check number of uses vs. license file.

2. Check if correct license file loaded.

3. Check in IPS config file for errors.

133013, IPS License Error

Description

Protocol error in communication towards license server.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Contact customer support.

133014, IPS License Error

Description

Communication fault. License server has been found, but

communication is lost.

Could not obtain option: arg

Reference: arg

Recommended actions

1. Check communication towards license server.

133200, arg:Trig error

Description

IPS has discovered an

impossible trig time error.

This situation may occur if trig-events

are programmed too close each other in

e.g. a cleaning sequence.

Recommended actions

1. Check if events for named device

are programmed too close each other.

2. Check compensation delays for

named device.

133201, arg:Locked

Description

The named device is locked by IPS.

Can't set a value to this

device when locked, and there is no

direct access to it.

Recommended actions

1. Check if system tries to run named

device, when it is already locked

(connected) to another device.

133202, arg:Disabled

Description

Impossible to set a command value to

named device when it is disabled.

When a device is disabled, it is not

possible to operate it.

Recommended actions

1. Enable named device and set a new

command to it.

2. Check if IPS config is set up to

6 Trouble shooting by Event log

4333HAC020738-001 Revision: K

disable the named device.

133203, arg:Disconn.

Description

The resource(s) for named device is

disconnected and named device is not

operational. The connect signal for

the device is set to 0.

Recommended actions

1. Set the connect signal for the

named device to 1.

2. Check if the system sets the connect

signal to 0 in some special cases.

133204, arg:Not ready

Description

Can't set value: Named device is not

ready and is halted by some supervision

functions or it have a general problem.

Recommended actions

1. Check if IPS is setup with any

supervision functions for named device.

2. Check if named device have any

problem, fix the problem and retry.

133205, arg:Sprv. alarm

Description

Can't set value:An alarm that is

supervising named device is active.

One of the installed alarms prevents the

named device from being operational.

Recommended actions

1. Check for supervision alarms that

sets named device in a not ready state.

2. Fix the actual alarm state.

133206, Lock arg failed

Description

Locking of a resource for named device

failed. The same resource may have been

allocated by another device.

Recommended actions

1. Check in IPS config if several

IPS devices are using the same resource.

133207, arg:Val hi

Description

Value for named sensor or device has

exceeded maximum limit.

IPS has discovered an alarm

state for named sensor or device.

Recommended actions

1. Check if value for named sensor or

device is too high.

2. Check for IPS configured LIMIT-

alarms and verify that limits are OK.

133208, arg:Val lo

Description

Value for named sensor or device has

exceeded minimum limit.

IPS has discovered an alarm

state for named sensor or device.

Recommended actions

1. Check if value for named sensor or

device is too low.

2. Check for IPS configured LIMIT-

alarms and verify that limits are OK.

133209, arg:Act.val hi

Description

Actual value for named device has

exceeded maximum limit. IPS has

discovered too high actual value

compared to the setpoint value.

Recommended actions

1. Check for IPS configured DEVIATION-

alarms and verify that parameter limits

are OK.

2. Check if the sensor, used by named

device, is noisy.

133210, arg:Act.val lo

Description

Actual value for named device has

exceeded minimum limit. IPS has

discovered too low actual value

compared to the setpoint value.

Recommended actions

1. Check for IPS configured DEVIATION-

alarms and verify that parameter limits

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434 3HAC020738-001 Revision: K

are OK.

2. Check if the sensor, used by named

device, is noisy or sending values.

133211, arg:Comp. hi

Description

Regulator for named device has

compensated too much compared to the

calibrated curve and its compensations

parameter limits.

Recommended actions

1. Check in IPS config if compensation

limits for named device are too tight.

2. Check supply pressures, hoses, sensor

and transducer used by named device.

133212, arg:Comp. lo

Description

Regulator for named device has

compensated too much compared to the

calibrated curve and its compensations

parameter limits.

Recommended actions

1. Check in IPS config if compensation

limits for named device are too tight.

2. Check supply pressures, hoses, sensor

and transducer used by named device.

133213, arg:Potlife

Description

The potlife time for named device has

expired and the fluid will start to

cure! Paint equipment may be destroyed!

Start to flush system at once!

Recommended actions

1. Check if flushing of system is

performed.

2. Check if potlife time is correct.

133214, arg:Setp. hi

Description

Setpoint value for named device is too

high. The setpoint value is set to

the maximum configured value for named

device.

Recommended actions

1. Check if setpoint to named device

is set too high.

2. Change the maximum value in the

IPS config file if needed.

133215, arg:Setp. lo

Description

Setpoint value for named device is too

low. The setpoint value is set to

the minimum configured value for named

device.

Recommended actions

1. Check if setpoint to named device

is set too low.

2. Change the minimum value in the

IPS config file if needed.

133216, arg:Seq. error

Description

IPS has discovered a trig sequence

error. The Dynamic Delay Compensation

function for named device measured an

'on'- transition while expecting an

'off'- transition. (Or opposite)

Recommended actions

1. Check if the sensor signal

has the correct level.

2. Check if the sensor signal

is noisy.

133217, arg:Unexp. trans.

Description

IPS has discovered an unexpected

transition. The Dynamic Delay

Compensation function for named device

measured a transition at a time when

none was expected.

Recommended actions

1. Check relay and electrical

connections for the sensor.

2. Check if the sensor signal

is noisy.

133218, arg:Timeout On

Description

IPS has discovered a trig timeout

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4353HAC020738-001 Revision: K

for an 'on'- transition. The Dynamic

Delay Compensation function has timed

out for an 'on'- transition.

Recommended actions

1. Check sensor for named device.

2. Check wiring or relay for sensor.

133219, arg:Timeout Off

Description

IPS has discovered a trig timeout

for an 'off'- transition. The Dynamic

Delay Compensation function has timed

out for an 'off'- transition.

Recommended actions

1. Check sensor for named device.

2. Check wiring or relay for sensor.

133220, arg:No signal

Description

IPS is reading a zero value from the

sensor used by the named device. Wiring

or supply to this sensor can be

the reason.

Recommended actions

1. Check if used sensor is broken.

2. Check wiring of used sensor.

3. Check process supply for used sensor.

133221, arg:Max output

Description

The closed loop regulator for named

device has reached the maximum output.

Recommended actions

1. Check if the commanded value to the

regulator is higher than possible for

the application equipment.

2. Reduce setpoint to operate regulator

within controllable range.

133222, arg:Min output

Description

The closed loop regulator for named

device has reached the minimum output.

Recommended actions

1. Check if the commanded value to the

regulator is lower than possible for

the application equipment.

2. Increase setpoint to operate

regulator within controllable range.

133223, arg:Interlock

Description

IPS has discovered an interlock

conflict error. An attempt was made to

operate more than one valve or device

in an interlocked group.

Recommended actions

1. Set active valve or device to zero

before activating a new one.

133224, Acknowledge needed

Description

arg is currently halted by

an alarm supervision and an acknowledge

of named device is needed.

Recommended actions

1. Check the alarms that is halting

the named device.

2. Recover the alarm situation.

3. Acknowledge the alarm for named

device and retry.

133225, DMC error

Description

Following Digital Motor Controller (DMC) error message was sent to

IPS:

arg.

IPS has lost communication or discovered an error sent from the

named DMC driver.

Recommended actions

1. Check cables to the DMC.

2. Check power supply to the DMC.

3. For more info, see the Unit Description, Paint manual.

133226, arg.

Description

Setpoint error.

IPS has discovered an error

to set a signal on the named device.

Recommended actions

1. Check if signal is available for

named device.

6 Trouble shooting by Event log

436 3HAC020738-001 Revision: K

133250, arg:Comm. err

Description

IPS has discovered an internal

CAN-communication error. Communication

on CAN-bus between IPS nodes is lost.

System will try to reconnect if

possible.

Recommended actions

1. Check CAN-bus cables for IPS nodes.

2. Check IPS nodes for correct MacID.

3. Check CAN-bus termination resistors.

133251, arg:New curve

Description

IPS has created a new dynamic or

calibrated curve, number arg, for

named device.

Recommended actions

133252, arg:Calc. curve

Description

IPS has recalculated a dynamic or

calibrated curve, number arg, for named

device. The range of curve is modified

due to modified range of regulator.

Recommended actions

133253, arg:Resizing

Description

IPS has resized a dynamic or

calibrated curve, number arg, for named

device. Due to change in curvesize

parameter, the existing curves are

transformed to the new curvepoint size.

Recommended actions

133254, arg:DMC error

Description

IPS has lost communication or

discovered an error sent from named

DMC-driver.

DMC error code is: arg.

Recommended actions

1. Check DMC-driver status LEDs.

2. Check power supply on the DMC-driver.

3. Turn off and on the DMC-driver power.

133255, Apmb error

Description

IPS has discovered an Apmb-driver

(Berger-Lahr driver) error.

Apmb-driver, number: arg, has issued an

error.

Recommended actions

1. Check the fault LEDs codes on the

Berger-Lahr Drive unit.

2. Check stepper motor.

3. Check wiring for Berger-Lahr driver.

133256, arg:Curve err

Description

IPS has discovered a number

format on named dynamic/calibrated

curve that is not correct.

Recommended actions

1. Check if an already saved curve on

the IPS node has an incompatible number

format than expected.

2. Delete the saved curve on the

IPS board.

133257, SDI error

Description

SDI board have issued following

error:arg,

with error code:arg.

Recommended actions

1. Check SDI board for errors.

133258, VCD error,MacID:arg

Description

IPS has discovered an error

on a VCD board with following

details:arg.

Recommended actions

1. Check VCD board for the error reason

given.

2. Replace the VCD board.

6 Trouble shooting by Event log

4373HAC020738-001 Revision: K

133259, File Access Error

Description

IPS has discovered a File Access

Error on following file: arg.

Recommended actions

1. Check if named file exists.

2. Check if file is currently in use.

133260, File Defaulted

Description

IPS has created a default file

of type: 'arg' with

following file name: arg.

Recommended actions

133261, File Parse Error

Description

IPS failed to load the following file arg in line arg.

Detailed error text: arg.

Recommended actions

1. Check that named file has the correct format for its use.

133262, New index entry in file

Description

IPS has created in file: arg

a new index entry with value: arg

Recommended actions

133263, PPRU CAN Error

Description

PPRU unit: arg,

133264, PPRU Error

Description

PPRU unit: arg,

message = 'arg'

133265, SPI down: arg

Description

IPS on node arg has discovered an SPI-communication error.

arg

System will try to reconnect.

Recommended actions

1. Check serial cable to SPI board.

2. Check power cable to SPI board.

3. Check/replace SPI board.

133266, SPI up: arg

Description

SPI reconnected on node arg.

133280, Servo create error

Description

SDI board has discovered an error while

loading configuration.

Recommended actions

1. Check SDI configuration.

2. Check/replace SDI board.

3. Contact customer support.

133281, Servo meas. system error

Description

SDI board has discovered an error on the

serial line for the measurement system.

Recommended actions

1. Check cables and connectors.

2. Check measurement board.

3. Contact customer support.

133282, Servo drive system error

Description

SDI board has discovered an error on the

serial line for the drive system.

Recommended actions

1. Check cables and connectors.

2. Check serial line, maybe a loop-link

is required.

3. Check drive units.

4. Contact customer support.

133283, Servo calibration done

Description

SDI board has performed calibration.

6 Trouble shooting by Event log

438 3HAC020738-001 Revision: K

Recommended actions

133284, Servo calibration error

Description

SDI board has discovered an error while

doing calibration.

Recommended actions

1. Retry calibration.

2. Contact customer support.

133285, Servo calibration timeout

Description

SDI board has discovered that the

calibration job has timed out.

Recommended actions

1. Retry calibration.

2. Contact customer support.

133286, Servo config. timeout

Description

SDI board has discovered an error while

loading configuration.

Recommended actions

1. Check SDI configuration.

2. Check/replace SDI board.

3. Contact customer support.

133287, Servo coeff. set error

Description

SDI board has discovered a problem to

assign a specified set of coeffisients.

Recommended actions

1. Check FILTERASSIGN section in

SDI configuration file for errors.

2. Check/replace SDI board.

3. Contact customer support.

133288, Servo illegal hardware

Description

SDI board has discovered an error while loading configuration.

Recommended actions

1. Check SDI hardware version.

2. Check/replace SDI board.

3. Contact customer support.

133300, Drive units power up

Description

After power up or reset of Drive units

the 'POWER_UP'-error bit is set. This is

to indicate that the Drive units needs

to be initialized by downloaded

parameters.

Recommended actions

1. This is info only, the software on

the SDI board should automatically

download parameters to the drives.

133301, SDI Servo WatchDog

Description

SDI board has discovered a watchdog

reset from the Drive unit used

by: arg.

Recommended actions

1. Restart robot controller.

2. Replace Drive unit.

133302, SDI logic +/-15V error

Description

The SDI supply voltage for +/-15V is

out of range, received from the Drive

unit used by: arg.

Recommended actions

1. Check cabling on SDI board.

2. Check supply voltage of +/-15V from

SDI board.

3. Replace Drive unit.

133303, SDI Comm. error

Description

SDI board has discovered too many

consecutive communication errors

reported by the Drive unit

used by: arg.

Recommended actions

1. Check cabling.

2. Replace Drive unit.

3. Replace SDI board.

6 Trouble shooting by Event log

4393HAC020738-001 Revision: K

133304, Int. Drive unit error

Description

SDI board has discovered an internal

error in the Drive unit used

by: arg.

Recommended actions

1. Ignore if any other Drive unit

errors are present.

2. Replace Drive unit.

133305, Drive glitch warning

Description

SDI board has discovered a glitch in

the short circuit detector for the Drive

unit used by: arg.

Recommended actions

1. Check for short circuit in cabling.

2. Check for short circuit in servo

motor.

2. Replace Drive unit.

133306, Servo short circuit

Description

SDI board has discovered an short

circuit in the Drive unit used

by: arg

Recommended actions

1. Check for short circuit in cabling.

2. Check for short circuit in servo

motor.

3. Replace Drive unit.

133307, Servo temp. warning

Description

SDI board has discovered a high

temperature warning in the Drive unit

used by: arg.

ALLOW SYSTEM TO COOL DOWN!

Recommended actions

1. Check cooling fans and filters for

the Drive unit.

2. Too high ambient temperature.

3. Check power consumption of the Drive.

4. Replace Drive unit.

133308, Servo Temp. alarm

Description

SDI board has discovered a high

temperature alarm in the Drive unit

used by: arg.

ALLOW SYSTEM TO COOL DOWN!

Recommended actions

1. Check cooling fans and filters for

the Drive unit.

2. Too high ambient temperature.

3. Check power consumption of the Drive.

4. Replace Drive unit.

133309, Servo over temperature

Description

SDI board has discovered an over

temperature error in the Drive unit

used by: arg.

ALLOW SYSTEM TO COOL DOWN!

Recommended actions

1. Check cooling fans and filters for

the Drive unit.

2. Too high ambient temperature.

3. Check power consumption of the Drive.

4. Replace Drive unit.

133310, Servo Drive overload

Description

SDI board has discovered high

temperature in transistors on the Drive

unit used by: arg.

This problem is caused by overload for

the actual Drive.

Recommended actions

1. Too much torque for the Drive unit.

Check system for overload in torque.

2. Check if robot or pump is jammed.

3. Replace Drive unit.

133311, Servo high voltage

Description

SDI board has discovered a DC-bus

voltage higher than allowed.

This is detected in the Drive unit

used by: arg.

6 Trouble shooting by Event log

440 3HAC020738-001 Revision: K

Recommended actions

1. Check incoming mains.

2. Check/replace bleeder resistors

and cabling.

3. Check/replace DC-link.

4. Replace Drive Unit.

133312, Servo over voltage

Description

SDI board has discovered a critical

over voltage on DC-bus detected in the

Drive unit used by: arg.

Recommended actions

1. Check incoming mains.

2. Check/replace bleeder resistors.

3. Check/replace DC-link.

133313, Servo DC low voltage

Description

SDI board has discovered a low voltage

on DC-bus detected in the Drive unit

used by: arg.

Recommended actions

1. Check incoming mains.

2. Check/replace bleeder resistors

and cabling.

3. Check/replace DC-link.

4. Replace Drive Unit.

133314, Servo torque command err.

Description

SDI board has discovered a servo torque

command error with too big difference

in 3 consecutive torque references.

This error is received from the Drive

unit used by: arg.

Recommended actions

1. Check resolver cabling and external

noise in resolver cabling.

2. Check resolver ground connections.

3. Check SDI configuration if gain

is too high.

133315, Servo resolver pos. err.

Description

SDI board has discovered a resolver

postion error with too big difference

in 3 consecutive rotor positions.

This error is received from the Drive

unit used by: arg.

Recommended actions

1. Check resolver cabling and external

noise in resolver cabling.

2. Check resolver ground connections.

133316, Saturated current contr.

Description

SDI board has discovered that the Drive

unit is unable to supply ordered current

due to low DC-voltage or broken motor

connections, received from the Drive

unit used by: arg.

Recommended actions

1. Check DC-bus voltage.

2. Check servomotor/cables.

3. Check SDI configuration.

4. Replace Drive Unit.

133317, Servo cable error

Description

SDI board has discovered a servo

cable error between Drive unit and

servomotor. This error is received from

the Drive unit used by: arg.

Recommended actions

1. Check servomotor/cables.

2. Replace Drive unit.

3. Replace SDI board.

133318, Servo under current error

Description

SDI board has discovered a torque

that is producing a current lower than

ordered, received from the Drive unit

used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check DC-bus voltage.

3. Check servomotor/cables.

133319, Servo over current error

Description

SDI board has discovered a torque

6 Trouble shooting by Event log

4413HAC020738-001 Revision: K

that is producing a current higher than

ordered, received from the Drive unit

used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check DC-bus voltage.

3. Check servomotor/cables.

133320, Drive unit regulator err.

Description

SDI board has discovered an error in

the Drive unit regulator (d-part)

used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check servomotor/cables.

3. Check resolver and resolver cabling.

4. Replace SDI board.

133321, Servo max. current error

Description

SDI board has discovered a maximum

current error, received from the Drive

unit used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check DC-bus voltage.

3. Check servomotor/cables.

133322, Servo unknown error code

Description

SDI board has discovered an unknown

extended servo error code. This is an

internal error, received from Drive unit

used by: arg

Recommended actions

1. Check/replace Drive unit.

2. Check/replace SDI board.

3. Contact customer support.

133323, Servo overrun error

Description

SDI board has discovered a receiver

overrun. This is an internal error,

received from Drive unit

used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133324, Servo illegal node

Description

SDI board has discovered a servo

illegal node address error. This is an

internal error, received from Drive unit

used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133325, Servo illegal key

Description

SDI board has discovered a servo illegal

key value when connecting to an Drive

unit. This is an internal error,

received from the Drive unit

used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133326, Servo no parameter

Description

SDI board has discovered that no

parameter is used. This is an internal

error, received from the Drive unit

used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133327, Servo read only par.

Description

SDI board has discovered an attempt to

write parameter values to read only

6 Trouble shooting by Event log

442 3HAC020738-001 Revision: K

parameters on a Drive unit. This is an

internal error, received from the Drive

unit used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133328, Servo locked parameter

Description

SDI board has discovered an attempt to

write parameter values to locked

parameters on a Drive unit. This is an

internal error, received from the Drive

unit used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133329, Servo diagnosis no par.

Description

SDI board has asked for a non existing

parameter from the Drive unit

used by: arg

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133330, Servo current meas. error

Description

SDI board has discovered a servo current

measurement error, caused by an error in

the current measurement bridge.

This is an internal error, received from

the Drive unit used by: arg

Recommended actions

1. Check/replace Drive unit.

2. Check/replace SDI board.

3. Contact customer support.

133331, Servo syncslot occupied

Description

SDI board has discovered a syncslot

occupy error received from the Drive

unit used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133332, Servo sync insert error

Description

SDI board has discovered a sync insert

error received from the Drive unit

used by: arg.

Recommended actions

1. Check how motor and resolver are

configured on the SDI board.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133333, Servo sync no load par.

Description

SDI board has discovered a sync with no

parameters, received from the Drive unit

used by: arg.

Recommended actions

1. Check SDI configuration.

2. Check/replace Drive unit.

3. Check/replace SDI board.

4. Contact customer support.

133334, Servo position reg. error

Description

SDI board has discovered a servo

position regulator error,

for: arg. This error is

typical if the resolver feedback

is noisy.

Recommended actions

1. Check resolver cabling.

2. Contact customer support.

6 Trouble shooting by Event log

4433HAC020738-001 Revision: K

133335, Servo speed reg. overflow

Description

SDI board has discovered a servo speed

regulator overflow error,

for: arg. This error is

typical if the resolver feedback

is noisy.

Recommended actions

1. Check resolver cabling.

2. Contact customer support.

133336, Servo speed flt overflow

Description

SDI board has discovered a servo speed

filter overflow error,

for: arg.

Recommended actions

1. Change SDI board.

2. Contact customer support.

133337, Servo res. angle overflow

Description

SDI board has discovered a resolver

angle calculation overflow error,

for: arg.

Recommended actions

1. Check resolver and resolver cabling.

2. Contact customer support.

133338, Servo resolver error

Description

SDI board has discovered a failure in

resolver angle square root calculation,

for: arg. The squared

result for x- and y-signal on resolver

exceeded a limit.

Recommended actions

1. Check resolver and resolver cabling.

2. Replace serial measurement boards.

133339, Servo torque limit error

Description

SDI board has discovered a servo torque

limit error, for: arg.

Recommended actions

1. Check motorcables or servomotor.2. Check torque limits in

configuration.

3. Check if servomotor/gearbox is stuck.

4. Check if configuration is correct

for used setup.

133340, Drive unit comm. lost

Description

SDI board has lost communication with

the Drive unit used by: arg.

Recommended actions

1. Check cable between SDI board and

Drive unit.

2. Replace SDI board.

3. Replace Drive unit.

133341, Sms board comm. lost

Description

SDI board has lost contact with the

serial measurement board,

used by: arg.

Recommended actions

1. Check cable between SDI board and

measurement board.

2. Replace SDI board.

3. Replace serial measurement board.

133342, Sms board comm. lost

Description

SDI board has lost contact with the

serial measurement board,

used by: arg.

Recommended actions

1. Check cable between SDI board and

measurement board.

2. Replace SDI board.

3. Replace serial measurement board.

133343, Sms board comm. lost

Description

SDI board has lost contact with the

serial measurement board,

used by: arg.

Recommended actions

1. Check cable between SDI board and

6 Trouble shooting by Event log

444 3HAC020738-001 Revision: K

measurement board.

2. Replace SDI board.

3. Replace serial measurement board.

133344, Position step error

Description

SDI board has discovered an ordered

position step length larger than the

maximum specified step length,

configured for: arg.

Recommended actions

1. Check the 'MaxStepSize' parameter in

the configuration for named servo.

2. Check acc./speed for superior

interpolator.

3. Check resolver and resolver cabling.

133345, Speed error

Description

SDI board has discovered a speed error

for: arg.

Recommended actions

1. Check acc./speed for superior

interpolator.

2. Check gain parameters for named

servo.

3. Check resolver and resolver cabling.

133428,

Description

Recommended actions

133429,

Description

Recommended actions

133430, Servo DC-link overtemp.

Description

SDI board has discovered an over-

temperature in DC-link: arg.

Recommended actions

1. Check cooling fans and filters for

the DC-link.

2. Too high ambient temperature.

3. Check main supply for DC-link.

4. Replace DC-link unit.

133431, Servo bleeder overload

Description

SDI board has discovered a bleeder

overload for DC-link: arg.

Recommended actions

1. Check bleeder connections.

2. Too much deceleration.

3. Check AC voltage to DC-link.

4. Replace DC-link unit.

133432,

Description

Recommended actions

133433, Servo mains error

Description

SDI board has discovered an error on

the main supply for the

DC-link unit: arg.

Recommended actions

1. Check power supply to the DC-link.

2. Replace DC-link unit.

133434, Low DC voltage

Description

SDI board has discovered low DC voltage

on the DC-link unit: arg.

Recommended actions

1. Check power supply to the DC-link.

2. Replace DC-link unit.

133435, DC-link +/-15V error

Description

The DC-link supply voltage for

+/-15 volt is out of range, detected by

the DC-link unit: arg.

Recommended actions

1. Check cabling.

2. Check +/-15V from power supply.

3. Replace DC-link unit.

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4453HAC020738-001 Revision: K

133436, Open circuit in bleeder resistor circuit

Description

The bleeder resistor connected to the rectifier is an open circuit,

detected by: arg.

Recommended actions

1. Make sure the bleeder resistor cable is correctly connected to the

rectifier unit.

2. Make sure the cable and resistor is working correctly by measuring

their resistance respectively. Disconnect before measuring.

3. Replace any faulty component.

133437, Short circuit in bleeder resistor circuit

Description

The bleeder resistor connected to the rectifier is a short circuit,

detected by: arg.

Recommended actions

1. Make sure the bleeder resistor cable is correctly connected to the

rectifier unit.

2. Perform a shutdown and then restart the system.

3. If the problem persists, isolate the faulty rectifier unit and replace it.

133501, Handler is not calibrated

Description

Could not enable the handler, because the handler was not calibrated.

Recommended actions

Calibrate the handler.

133502, Belt on the handler is not calibrated

Description

Could not enable the handler, because the belt on the handler is not

calibrated.

Recommended actions

1. Be sure to calibrate the handler in two postions.

2. Update SDI-configuration to one point calibration.

133503, Belt calibration error

Description

The result of the belt-calibration was too inaccurate.

Recommended actions

1. Check SDI-configuration for position of calibration points.

2. Make sure that you calibrate in the the correct order and that the

handler is positioned accurately.

133504, Move not allowed

Description

A new move command was given to the

interpolator on the SDI board when it

was already interpolating two paths.

Recommended actions

1. Check in program if several moves is

performed, without waiting for the

interpolator to be ready for next move.

133505, No servo response on SDI

Description

SDI board has discovered that a servo

did not request for a new step from the

interpolator.

Recommended actions

1. Check in error log for the servo

errors given.

2. Fix the actual servo problem and

retry the system.

133507, Invalid interpolator step

Description

SDI board has discovered an invalid

interpolator step in the system. The

interpolator on the SDI board has tried

to set an illegal step length, or too

high speed is set in the move program.

Recommended actions

1. Check program for too high speed.

2. Check for configuration error

(gear ratio, etc.).

3. Interpolator error.

4. Contact customer support.

133508, Servo read error

Description

SDI board has discovered a servo read

error. The interpolator on the SDI board

has failed to read from a servo.

Recommended actions

1. Check in error log for the servo

errors given.

2. Replace SDI board.

6 Trouble shooting by Event log

446 3HAC020738-001 Revision: K

133509, Handler not in position

Description

SDI board has discovered that the

handler has not reached the correct

position, after a specified time.

Recommended actions

1. Check for servo errors.

2. Check for interpolator errors.

3. Replace SDI board.

133512, Command toggle error.

Description

A command toggle was sent to the

SDI board while the acknowledge

signal was high.

Recommended actions

1. Assure that the command toggle signal

is low before toggling a new command.

133550, Joint speed error

Description

The speed of joint arg deviates too much

relative to the ordered speed.

Recommended actions

1. Check the parameters.

2. Check for external forces.

3. Reduce programmed speed and

acceleration.

133551, Move not allowed

Description

The handler is ordered to move to an

illegal position: arg= arg

Recommended actions

1. Check position limits.

2. Check position data.

3. Check signal CPYLimOverride.

134001, Fatal queue error

Description

It was not possible to pop the job queue, due to an unexpected error.

134002, Queue overflow

Description

The last job in the queue was removed because the queue is full.

Consequences

The last job will not be executed.

Recommended actions

Wait for queue size to decrease before inserting more jobs.

134003, Invalid token

Description

Token arg is out of bounds.

Recommended actions

Check client parameters.

134004, Invalid client

Description

Client arg is out of bounds.

Recommended actions

Check client parameters.

134005, arg can only get master in Auto mode

Description

It is only allowed to get master in Auto mode.

Recommended actions

Switch the controller to Auto mode and execute the command again.

134006, arg failed to get master

Description

arg could not get master, because master is already taken by arg.

134007, arg failed to release master

Description

arg could not release master, because arg has master.

134008, Too many subscribers

Description

The routine arg could not be subscribed to the arg event due to too

many subscribers.

134009, Subscriber file error

Description

The system failed to create the file arg.

6 Trouble shooting by Event log

4473HAC020738-001 Revision: K

134010, Subscriber reference error

Description

arg did not contain the procedure arg.

134011, Subscriber unknown error

Description

Unknown error during init. of subscribers.

134017, Buffer full

Description

Buffer1: arg

Buffer2: arg

134018, Log semaphore timeout

Description

Log: arg

Message: arg

134019, Master required

Description

arg must be master to execute the command (arg).

134020, File not found

Description

arg could not be found.

Recommended actions

Make sure that the file exists.

134021, Syntax Error

Description

The file "arg" contains syntax errors or reference errors.

Consequences

The file was not loaded.

Recommended actions

Check error and rapid logs for the cause and fix the file.

134022, Duplicate attempt to load program

Description

Duplicate attempt to load program index: arg.

Recommended actions

Wait for the current directly loaded program to finish executing.

134023, Duplicate attempt to load program

Description

Duplicate attempt to load module name: arg.

Recommended actions

Wait for the current directly loaded program to finish executing.

134025, Material Change Suspended

Description

Material change was suspended because of an error or stop.

Recommended actions

Fix the problem, reset error and restart.

134026, Material Change Cancelled

Description

Material change was cancelled.

134027, Illegal Material Change Event

Description

Start of material change was issued while material change was already

running.

134028, Illegal Material Change Event

Description

Proceed of material change was issued unexpectedly.

134030, Material Change Skipped

Description

Material supply is turned off.

Consequences

Material change will be skipped for this job.

134032, Protocol Error

Description

A material change command was sent to the robot before the previous

was done.

134033, Enable Material Supply Error

Description

Could not enable the material supply.

134034, Material Change Time Out

Description

Material change decision timed out.

6 Trouble shooting by Event log

448 3HAC020738-001 Revision: K

Consequences

Material change decision may not be reliable.

Recommended actions

Procedures subsribed to the decide event should be checked for delays.

134039, Toggle lowered before command was

finished

Description

The command toggle was lowered before the command was finished.

Consequences

The external controls system will not receive command result.

Probable causes

External controls system not compliant to protocol

134040, Previous command not finished

Description

A command (arg) was sent before the previous (arg) was done.

Probable causes

External controls system not compliant to protocol

134041, Missing Signal Definition

Description

The signal arg could not be found.

134042, Volume not recorded

Description

Total consumed volume for the job is outside accepted tolerance.

Volume: arg

Consequences

Accuvol table will not be updated.

134050, Applicator Timeout

Description

A timeout occured while waiting for the applicator to get ready.

Recommended actions

Check other process messages for additional information.

134051, External Start when no program

Description

An External Start command (arg) was received when no program was

loaded

Probable causes

External controls system not compliant to protocol

134052, Overpush

Description

The system has pushed to much material

Consequences

The current paint job might be contaminated

Recommended actions

Disable paint push and then check push parameters

134053, Applicator configuration mismatch

Description

There is a mismatch between the number of applicator enable signals

and the number of brush signals.

Consequences

Robotware paint will not work properly

Recommended actions

Check the process configuration

134054, Command failed in e-stop state

Description

Command arg not allowed when the controller is in e-stop state.

Recommended actions

Remove emergency stop conditions and reset emergency stop state.

134055, Configuration error

Description

Could not add arg.xml into the configuration settings. There are too

many configuration files.

Consequences

The option "arg" will be set to zero.

Recommended actions

Merge the configuration into another file, or increase the buffer size.

134056, Configuration error

Description

Could not find the file: arg.xml

Consequences

The option "arg" will be set to zero.

Recommended actions

Make sure the file exists.

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4493HAC020738-001 Revision: K

134057, Configuration error

Description

Could not parse the file: arg.xml

Consequences

The option "arg" will be set to zero.

Recommended actions

Fix the markup in the XML file.

134058, Configuration error

Description

Did not find the option in the file: arg.xml

Consequences

The option "arg" will be set to zero.

Recommended actions

Add the option into the XML file.

134059, XML-parser error

Description

First dimension passed to XML-parser was to big.

Recommended actions

Contact customer service.

134060, XML-parser error

Description

Third dimension passed to XML-parser was not big enough.

Recommended actions

Contact customer service.

134061, XML-parser overflow

Description

There were too many options in the file: arg

Consequences

Only arg options were parsed.

Recommended actions

Remove some options or increase the buffer size.

134062, XML-parser error

Description

Could not open the file: arg for reading.

Recommended actions

Make sure the file exists, and is accessible.

134063, XML-parser error

Description

Did not find a specified set of symbols.

Recommended actions

Fix the markup in the XML file.

134064, CSV-parser error

Description

Row out of range in the file: arg

Consequences

The rows out of range in the file will be skipped.

Recommended actions

Remove the offending rows, or increase the buffer size.

134065, CSV-parser error

Description

Encountered a row number that was not a positive integer in the file:

arg

Consequences

The row/line in the file will be skipped.

Recommended actions

Change the row number to a positive integer.

134066, CSV-parser error

Description

There were too many columns on a row in the file: arg

Consequences

The remaining columns on the row/line in the file will be skipped.

Recommended actions

Reduce the amount of columns, or increase the buffer size.

134067, CSV-parser error

Description

Could not open the file: arg for reading.

Recommended actions

Make sure the file exists, and is accessible.

134100, CBS servo not enabled.

Description

CBS servo was not enabled when deciding to do material change.

Consequences

The material change or maintenance operation will be skipped.

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450 3HAC020738-001 Revision: K

Recommended actions

Enable the CBS servo.

134101, CBS restarted while performing

operations.

Description

CBS was restarted in state: arg

Consequences

The CBS is in an unreliable state.

Recommended actions

The integrity of the system must be restored manually by moving

cartridges back to their home stations.

134102, Unrecoverable CBS error.

Description

An unrecoverable error has occured.

Consequences

The CBS is in an unreliable state.

Recommended actions

The integrity of the system must be restored manually by moving

cartridges back to their home stations.

134103, No solution for material index.

Description

No cartridge and IFS combination found for selected material index.

Consequences

The material change will be skipped.

Recommended actions

Reconfigure the system by adding the material index.

134104, No station for material index.

Description

No IFS station can supply the selected material index.

134105, No cartridge for material index.

Description

No cartridge is available for the selected station and material index.

134106, Not able to empty auxiliary station.

Description

Not able to empty auxiliary station due to a unrecoverable CBS error.

Recommended actions

The integrity of the system must be restored manually by moving

cartridges back to their home stations.

134107, Storage station is not an IFS.

Description

The returned cartridge was not stored in an IFS.

Consequences

The post processing of the cartridge will be skipped.

134108, Possible CBS collision.

Description

Robot execution has been stopped in order to avoid a collision with the

CBS handler.arg

Recommended actions

Manually move CBS handler away from robot and resume execution.

134110, Safe Move to address failed.

Description

Not allowed to move to address: arg, with gripper: arg

Recommended actions

Reconfigure gripper access.

134111, Safe Move to address failed.

Description

CBS servo is not enabled.

Recommended actions

Enable the CBS servo.

134112, Safe Move to address failed.

Description

Arm could not be moved up.

134113, Safe Move to address failed.

Description

CBS servo could not be controlled.

134114, Move to address failed.

Description

Invalid angle configured for address: arg

134115, Move to address failed.

Description

Invalid distance configured for address: arg

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4513HAC020738-001 Revision: K

134116, Move to address failed.

Description

Timeout while waiting for servo controller to complete previous

command.

Recommended actions

Check that servo controller and communication interface is ok.

134117, Move to address failed.

Description

Timeout while waiting for acknowledge from servo controller.

Recommended actions

Check that servo controller and communication interface is ok.

134118, Servo on failed.

Description

Timeout while waiting for servo controller feedback.

Recommended actions

Check that servo controller and communication interface is ok.

134119, Servo off failed.

Description

Timeout while waiting for servo controller feedback.

Recommended actions

Check that servo controller and communication interface is ok.

134120, Calibrate servo failed.

Description

Timeout while waiting for servo controller to complete previous

command.

Recommended actions

Check that servo controller and communication interface is ok.

134121, Calibrate servo failed.

Description

Timeout while waiting for acknowledge from servo controller.

Recommended actions

Check that servo controller and communication interface is ok.

134122, Set servo acceleration failed.

Description

Specified setting is out of range.

134123, Set servo acceleration failed.

Description

Timeout while waiting for servo controller to complete previous

command.

Recommended actions

Check that servo controller and communication interface is ok.

134124, Set servo acceleration failed.

Description

Timeout while waiting for acknowledge from servo controller.

Recommended actions

Check that servo controller and communication interface is ok.

134125, Set servo speed failed.

Description

Specified setting is out of range.

134130, Move arm up failed.

Description

Timeout while waiting for sensor feedback.

Recommended actions

Check that arm sensors are working.

134131, Move arm down failed.

Description

Timeout while waiting for sensor feedback.

Recommended actions

Check that arm sensors are working.

134132, Gripper open failed.

Description

Opening gripper attempted while arm was not down.

Recommended actions

Make sure handler arm is down.

134133, Gripper open failed.

Description

Unknown gripper specified: arg

134134, Gripper open failed.

Description

Timeout while waiting for sensor feedback.

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452 3HAC020738-001 Revision: K

Recommended actions

Check that gripper sensors are working.

134135, Gripper close failed.

Description

Unknown gripper specified: arg

134136, Gripper close failed.

Description

Timeout while waiting for sensor feedback.

Recommended actions

Check that gripper sensors are working.

134137, Unexpected cartridge presence.

Description

An unknown cartridge is blocking gripper: arg

Recommended actions

Remove the offending cartridge and verify the integrity of the system.

134138, No cartridge present.

Description

Expected a cartridge in gripper: arg

Recommended actions

Locate missing cartridge and verify the integrity of the system.

134139, Gripper sense failed.

Description

Unknown gripper specified: arg

134140, Gripper access check failed.

Description

Unknown gripper specified: arg

134145, Vacuum check error.

Description

Timeout while waiting for sensor feedback.

134150, Unlock station failed.

Description

Unable to unlock station at address: arg

Recommended actions

Verify that locking signal for station is ok.

134151, Lock station failed.

Description

Unable to lock station at address: arg

Recommended actions

Verify that locking signal for station is ok.

134152, Set primary IFS selector failed.

Description

Unable to set primary IFS selector to address: arg

Recommended actions

Verify that primary IFS selector signal is ok.

134153, Set primary CC selector failed.

Description

Unable to set primary CC selector to address: arg

Recommended actions

Verify that primary CC selector signal is ok.

134154, Set secondary IFS selector failed.

Description

Unable to set secondary IFS selector to address: arg

Recommended actions

Verify that secondary IFS selector signal is ok.

134155, Set secondary CC selector failed.

Description

Unable to set secondary CC selector to address: arg

Recommended actions

Verify that secondary CC selector signal is ok.

134160, Arm sensors bypassed.

Description

Arm sensors bypassed.

Consequences

Speed of CBS handler may be reduced.

134161, Right gripper sensor bypassed.

Description

Right gripper sensor bypassed.

Consequences

Some integrity failures will not be detected, and cannot avoid damage

to the system.

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4533HAC020738-001 Revision: K

134162, Left gripper sensor bypassed.

Description

Left gripper sensor bypassed.

Consequences

Some integrity failures will not be detected, and cannot avoid damage

to the system.

134163, Right cartridge sensor bypassed.

Description

Right cartridge sensor bypassed.

Consequences

Some integrity failures will not be detected, and cannot avoid damage

to the system.

134164, Left cartridge sensor bypassed.

Description

Left cartridge sensor bypassed.

Consequences

Some integrity failures will not be detected, and cannot avoid damage

to the system.

134165, Release sensor bypassed.

Description

Release sensor bypassed.

134166, Vacuum sensor bypassed.

Description

Vacuum sensor bypassed.

Consequences

Failure to produce vacuum will not be detected, and may cause

cartridges to drop from applicator.

134167, Servo position feedback bypassed.

Description

Servo position feedback bypassed.

Consequences

Speed optimalization features will not be used.

134168, Servo command acknowledge

bypassed.

Description

Servo command acknowledge bypassed.

Consequences

Servo may not behave correctly.

134170, CBS configuration error.

Description

Delivery address is not specified.

Consequences

System will not work correctly.

134171, CBS configuration error.

Description

Home address is not specified.

Consequences

System will not work correctly.

134172, CBS configuration error.

Description

Home gripper is not specified.

Consequences

System will not work correctly.

134173, CBS configuration error.

Description

Default cartridge volume is not specified.

Consequences

System will not work correctly.

134174, CBS configuration error.

Description

No cartridges has been defined.

Consequences

System will not work correctly.

134175, CBS configuration error.

Description

No materials has been defined.

Consequences

System will not work correctly.

134176, CBS configuration error.

Description

No addresses has been defined.

6 Trouble shooting by Event log

454 3HAC020738-001 Revision: K

Consequences

System will not work correctly.

134177, CBS configuration error.

Description

No home station specified for cartridge: arg

Consequences

Cartridge will be skipped.

134178, CBS configuration error.

Description

Too many IFS stations have been defined.

Consequences

Some IFS stations will be skipped.

134180, Could not set baseplate data.

Description

Address: arg Content: arg

134181, Could not get baseplate data.

Description

Content: arg

134182, Could not get baseplate data.

Description

Type: arg

134183, Could not get baseplate data.

Description

Access: arg

134184, Could not get baseplate data.

Description

Angle: arg

134185, Could not get baseplate data.

Description

Distance: arg

134186, Could not get cartridge access data.

Description

Cartridge: arg Address: arg

134187, Could not set cartridge data.

Description

Cartridge: arg Data: arg

134188, Could not get cartridge data.

Description

Cartridge: arg Data: arg

134189, Could not set IFS data.

Description

Index: arg Data: arg

134190, Could not get IFS data.

Description

Index: arg Data: arg

134191, IFS index from address resolution

failed.

Description

Address: arg

134192, IFS address from index resolution

failed.

Description

Index: arg

134193, Could not get station valve or material

data.

Description

Station: arg Material: arg

134195, No auxiliray station found.

Description

No auxiliary station found after trying different options.

Recommended actions

Cancel the handler and reconfigure the system.

134196, No storage station found.

Description

No storage station found after trying different options.

Recommended actions

Cancel the handler and reconfigure the system.

6 Trouble shooting by Event log

4553HAC020738-001 Revision: K

134200, Move cartridge failed.

Description

Move cartridge failed in state: arg

Recommended actions

Fix the problem causing the failure and resume the operation.

134201, Cancel move cartridge failed.

Description

Cancel move cartridge failed in state: arg

Recommended actions

Fix the problem causing the failure and resume the operation.

134202, Exchange cartridge step one failed.

Description

Exchange cartridge failed in state: arg

Recommended actions

Fix the problem causing the failure and resume the operation.

134203, Exchange cartridge step two failed.

Description

Exchange cartridge failed in state: arg

Recommended actions

Fix the problem causing the failure and resume the operation.

134204, Exchange cartridge step three failed.

Description

Exchange cartridge failed in state: arg

Recommended actions

Fix the problem causing the failure and resume the operation.

134210, Move cartridge error.

Description

There is already a cartridge at the 'To' address: arg

Consequences

Cannot continue with the operation.

134211, Move cartridge error.

Description

There is already a cartridge at the 'From' address: arg

Consequences

Cannot continue with the operation.

134212, Move cartridge error.

Description

An impossible to reach 'From' address was specified: arg

Consequences

Cannot continue the operation.

Recommended actions

Reconfigure baseplate access.

134213, Move cartridge error.

Description

An impossible to reach 'To' address was specified: arg

Consequences

Cannot continue the operation.

Recommended actions

Reconfigure baseplate access.

134214, Move cartridge error.

Description

The cartridge at 'From' address is not allowed at the 'To' address.

Cartridge: arg Address: arg

Consequences

Cannot continue the operation.

Recommended actions

Reconfigure cartridge access.

134215, Exchange cartridge error.

Description

There is no cartridge to get at delivery address.

Consequences

Cannot continue with the operation.

134216, Exchange cartridge error.

Description

Cannot find suitable station to put returned cartridge in.

Consequences

Cannot continue with the operation.

134217, Exchange cartridge error.

Description

There is no cartridge at the 'From' address: arg

Consequences

Cannot continue with the operation.

6 Trouble shooting by Event log

456 3HAC020738-001 Revision: K

134218, Exchange cartridge error.

Description

An impossible to reach 'From' address was specified: arg

Consequences

Cannot continue the operation.

Recommended actions

Reconfigure baseplate access.

134219, Unexpected cartridge in applicator.

Description

An unexpected cartridge was found while probing applicator.

Recommended actions

Remove the offending cartridge and resume the operation.

134220, Unexpected cartridge presence.

Description

An unexpected cartridge was found during start check.

Recommended actions

Remove the offending cartridge and verify the integrity of the system.

134221, No cartridge found while probing.

Description

Expected to find a cartridge in the station to process.

Consequences

Process operations on cartridge have been prevented.

Recommended actions

Manually verify the integrity of the system.

134230, Integrity check error.

Description

An unexpected cartridge was found during integrity check at address:

arg

Recommended actions

Manually verify the integrity of the system.

134231, Integrity check error.

Description

Did not find expected cartridge during integrity check at address: arg

Recommended actions

Manually verify the integrity of the system.

134240, Maintenance operation error.

Description

Unknown maintenance operation specified: arg

134241, Maintenance operation error.

Description

Unknown cartridge process operation specified: arg

134242, Maintenance operation error.

Description

Not possible to move a cartridge from or to a hole.

134243, Maintenance operation error.

Description

Unknown cartridge specified: arg

134244, Maintenance operation error.

Description

No IFS solution for the cartridge specified: arg

134245, Maintenance operation failure.

Description

Integrity check failed.

Recommended actions

Fix the problem causing the failure and resume the operation.

134250, Cartridge PotLife timeout.

Description

System detected potlife timeout in cartridge: arg

Consequences

The cartridge will be cleaned.

134251, Cartridge reached continous use limit.

Description

System detected a maximum continous use of cartridge: arg

Consequences

The cartridge will be cleaned.

134260, Halt exchange timeout.

Description

A timeout occured while waiting for another task to resume the

exchange process.

6 Trouble shooting by Event log

4573HAC020738-001 Revision: K

134270, DCL pressure release timeout.

Description

A timeout occured while waiting pressure to drop in DCU. Current

pressure: arg

134310, DSF cartridge 1 sensor bypassed.

Description

DSF cartridge 1 sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134311, DSF cartridge 2 sensor bypassed.

Description

DSF cartridge 2 sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134312, Cartridge 1 home sensor bypassed.

Description

Cartridge 1 home sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134313, Cartridge 2 home sensor bypassed.

Description

Cartridge 2 home sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134314, Cartridge 1 DSD sensor bypassed.

Description

Cartridge 1 DSD sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134315, Cartridge 2 DSD sensor bypassed.

Description

Cartridge 2 DSD sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134316, Cartridge 1 DSF sensor bypassed.

Description

Cartridge 1 DSF sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134317, Cartridge 2 DSF sensor bypassed.

Description

Cartridge 2 DSF sensor bypassed.

Consequences

System will run slower, and integrity failures will not be detected.

134320, Move DSF failed.

Description

Unknown position specified: arg

134321, Move DSF failed.

Description

Timeout while waiting for sensor feedback.

Recommended actions

Check that DSF sensors are working.

134325, Move Cartridge failed.

Description

Unknown cartridge position specified: arg

134326, Move Cartridge failed.

Description

Unknown cartridge specified: arg

134327, Move Cartridge failed.

Description

Timeout while waiting for sensor feedback. Cartridge: arg Position:

arg

Recommended actions

Check that cartridge sensors are working.

134329, Get cartridge position failed.

Description

Unknown cartridge specified: arg

6 Trouble shooting by Event log

458 3HAC020738-001 Revision: K

134340, VB configuration error.

Description

Maximum catridge volume not specified.

Consequences

System will not behave correctly. Cartridges may not be filled.

Recommended actions

Add the missing value into the VB configuration file.

134341, VB configuration error.

Description

Swap cartridge volume not specified.

Consequences

System will not behave optimally. Cartridges will run completely

empty before swapping occurs.

Recommended actions

Add the missing value into the VB configuration file.

134342, VB configuration error.

Description

Enough catridge volume not specified.

Consequences

System will not behave optimally. Filling will always occur, even if

cartridges have enough volume.

Recommended actions

Add the missing value into the VB configuration file.

134343, VB configuration error.

Description

Split volume not specified.

Consequences

System will not behave optimally. Last cartridge may delay material

change.

Recommended actions

Add the missing value into the VB configuration file.

134350, Move cartridge to home failed.

Description

Operation failed in state: arg

134351, Move cartridge to DSD failed.

Description

Operation failed in state: arg

134352, Move cartridge to DSF failed.

Description

Operation failed in state: arg

134353, Move DSF to cartridge failed.

Description

Operation failed in state: arg

134360, VB maintenance operation error.

Description

Unknown maintenance operation specified: arg

134400, Out of paint.

Description

Cartridge arg ran out of paint before cartridge arg was ready.

Consequences

The robot has been stopped to prevent additional fluid consumption.

Recommended actions

Start the robot once the new cartridge is ready. Reduce the fluid brush

and speed and check other process messages.

134401, Applicator fill problem.

Description

Paint line and applicator was not filled properly. arg > arg.

Recommended actions

Refill applicator or paint line and check other process messages.

134402, Cartridge fill problem.

Description

Cartridge arg was not filled properly. arg > arg.

Recommended actions

Refill cartridge and check other process messages.

134405, Illegal VB state.

Description

A statemachine entered an unknown state.

134406, DCL not ready.

Description

The status of DCL system arg is not in ready state.

Recommended actions

Run the maintenance operation to refill DCL for this system.

6 Trouble shooting by Event log

4593HAC020738-001 Revision: K

134410, Unknown sensor specified.

Description

Unknown sensor ID: arg.

Recommended actions

Check that paint command paramters are correct.

134411, Unknown cartridge specified.

Description

Unknown cartridge ID: arg.

Recommended actions

Check that paint command paramters are correct.

134412, Unknown position specified.

Description

Unknown position ID: arg.

Recommended actions

Check that paint command paramters are correct.

134420, Bypass cartridge error.

Description

Not allowed to run system with two or more sensors disabled for

cartridge arg.

Recommended actions

Enable more sensors.

134421, Bypass DSF error.

Description

Not allowed to run system with both DSF sensors disabled.

Recommended actions

Enable one of the sensors.

134425, Unknown DSF position.

Description

The DSF is not in a known position.

Recommended actions

Put it in a known position or verify its sensors.

134426, Unknown cartridge position.

Description

Cartridge arg is not in a known position.

Recommended actions

Put it in a known position or verify its sensors.

134430, DSF move error.

Description

Could not move DSF to cartridge arg.

134431, Cartridge move error.

Description

Could not move cartridge arg to home position.

134432, Cartridge move error.

Description

Could not move cartridge arg to DSF position.

134433, Cartridge move error.

Description

Could not move cartridge arg to DSD position.

14,

Description

150330, RAPID error in module

Description

Task:arg

Module (line/column): arg

There is an error with symbol: arg

Index

4653HAC020738-001 Revision: K

Additional Drive Unit 81

Axis computer, LEDs 76, 80

Brake contactor, K44 52

Brake power supply, faulty 51, 52

Brake, release 52

change of state 36

Circuit breaker F5 40

Circuit breaker, F6 38

Collapsing manipulator 48

Computer unit, LEDs 73

Contactor interface board, LEDs 78, 82

Contactor, K41 38

Control Module Power Supply, LEDs 72

Customer Power Supply, LEDs 73

damaged bearings 47, 49

Damaged cable 42, 44

Damaged connector 42

damaged parallel bar 47

danger levels 7

Drive Module Power Supply, LEDs 78, 82

Earth fault protection 40

Earth fault protection, tripped 34

Erratic event messages 44, 54

Error report 31

ESDdamage elimination 19

sensitive equipment 19

wrist strap connection point 19

Ethernet board, LEDs 71

faulty brake 51

faulty calibration 47

faulty connections 44

faulty TCP definition 47

Filing an error report 31

FlexPendant, dead 42

holding brakes 16

hot gearbox oil 48, 49

Incompatibility, hardware/software 46

Interference 54

labels

manipulator 9

leaking seals 48

LED Board, LEDs 74

LEDs , indication 38

Live voltage, Drive Module 17

Main Drive Unit 81

Main drive unit, LEDs 77

Main transformer 38

manipulator

labels 9

symbols 9

Manual, how to use 25

noise 47, 49

oil leaks 48

overfilled gearbox 48

Panel Board, LEDs 74

path accuracy 47

Power supply, faulty 42

program loops 36

protection standards 14

Rectifier, LEDs 77

safety

ESD 19

signals 7

signals in manual 7

symbols 7

symbols on manipulator 9

wrist strap 19

safety risk

hot parts 21

safety signals

in manual 7

safety standards 14

signals

safety 7

Single drive unit, LEDs 77

standards

ANSI 15

CAN 15

EN ISO 14

IEC 14

protection 14

safety 14

strained cables 44

symbols

safety 7

Index

466 3HAC020738-001 Revision: K

ABB Robotics

S-721 68 VÄSTERÅS

SWEDEN

Telephone: +46 (0) 21 344000

3HAC020738-001, Revision K, en

Trouble Shooting Manual, Procedures And Descriptions Robot Controller IRC5 Manual M2004 3HAC020738 001 Error En

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