Function Test Of Limit Switch - ABB IRC5 Product Manual

3.4.9 Function test of limit switch

Testing limit switches on manipulator
This must be tested on all the axes that has mounted limit switches.
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Testing limit switches for a SafeMove system
Perform validation of the function Safe Axis Speed. See Application
manual - SafeMove1. If this test is passed the limit switch works as intended.
Product manual - IRC5 Panel Mounted Controller
3HAC047137-001 Revision: J
Action
Start the robot system.
Jog the axis under test to the limit switch
activation position.
After the test the robot must be jogged out
of the limit switch activation position again.
This is done by jogging the robot after
pressing the limit switch override push
button. See Connecting a Limit switch
override push button on page
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3.4.9 Function test of limit switch
Note
The test is passed if the event message
"20214 Limit switch open" appears in the
FlexPendant log when the axis reaches the
limit switch activation position.
If the event message "20214 Limit switch
open" does not appear or if the event
message "20222 Limit switch conflict" ap-
pears in the FlexPendant log, the test is
failed and the root cause of the failure must
be found.
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