ABB IRC5 Operating Manual page 423

90506, Safety Controller Wrong Sync Position
Description
The axis arg position does not match its synchronization
position, as defined in the safety configuration for the safety
controller on drive module arg.
Consequences
Synchronization will not be performed, and the safety controller
will go to the unsynchronized state.
Probable causes
One or more axes are not in the correct synchronization
position. The revolution counters or calibration values of the
robot controller are not correct.
Recommended actions
Check that the synchronization positions in the safety
configuration are correct, and that all axes are in their
synchronization position. Perform revolution counter update or
calibration in the correct position, followed by a new
synchronization of the safety controller. Check that the
synchronization switch is working properly.
90507, Safety Controller Synchronized
Description
The safety controller for drive module arg is now synchronized
to supervised mechanical units.
Consequences
Safety supervision can be used.
90508, Safety Controller Tool Change Incorrect
Description
Incorrect tool change, in the safety controller for drive module
arg.
The cause was arg.
Consequences
The safety controller will stop all robot movements. Operation
is not possible until a valid tool has been selected.
Probable causes
Invalid tool selection input. Very high speed was detected during
the tool change.
Recommended actions
Check that exactly one tool selection input is active.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
90509, Safety Controller Brake Ramp supervision
triggered
Description
Too slow deceleration was detected during a Category 1 stop,
in the safety controller for drive module arg.
Consequences
The Category 1 stop is automatically changed to a Category 0
stop.
Recommended actions
Usually, no actions are necessary. If this happens frequently,
check the Application manual for mechanical units'
configuration. For external axes, change the parameter value
for Brake ramp in the safety configuration.
90511, Safety Controller Servo-Lag Limit
exceeded
Description
The safety controller for drive module arg has detected a too
big difference between the ordered and actual position on axis
arg.
Consequences
The safety controller will stop all robot movements.
Probable causes
A collision has occurred. Incorrect load definition in the robot
program. Incorrect configuration of external axes. A function
has been activated that result in greater servo lag, such as soft
servo or force control.
Recommended actions
If there was a collision, check the robot and perform a new
synchronization if required. Make sure that the robot load is
defined correctly. Check the Servo Lag settings in the safety
configuration for the external axis. Check that Contact
Application Tolerance is activated correctly. Check that the
safety controller is synchronized correctly.
90512, SC Contact Application Tolerance servo
lag exceeded
Description
The safety controller for drive module arg detected a too big
difference between the ordered and actual position for axis arg,
while inside Safety Area arg.
Consequences
The safety controller will stop all robot movements.
© Copyright 2005-2018 ABB. All rights reserved.
5 Troubleshooting by event log
Continues on next page
5.9 9 xxxx
Continued
423