ABB IRC5 Operating Manual page 123

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
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
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 occurred, and a controller
restart is required.
Recommended actions
Make sure the system is NOT in Emergency Stop state. Perform
a restart as detailed in the Operator's Manual, IRC5. 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
Commutate the axis as detailed in the Additional Axes Manual.
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.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Consequences
The system remains in the same status, and the requested
action will not be performed.
Recommended actions
Calibrate the axis as detailed in the Calibration Pendulum
Instruction or the Instructions for Level-meter 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.
Recommended actions
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
Synchronize the axis as detailed in the Calibration Pendulum
Instruction or the Instructions for Level-meter calibration,
depending on which equipment to be used.
20084, Not allowed command
Description
This command is not allowed since data in the robot memory
is not OK.
Consequences
All data must be OK before automatic operation is possible.
Manually jogging the robot is possible.
Recommended actions
Update the robot memory as detailed in Operator's Manual,
IRC5.
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5 Troubleshooting by event log
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