ABB IRC5 Operating Manual page 155

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.
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.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Probable causes
Short circuit in cables or connectors between the phases or to
ground. Short circuit in motor between the phases or to ground.
Recommended actions
Check/replace cables and connectors. 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 controller when the test has been performed. If this
was an unexpected message, please contact your contact your
local ABB representative for assistance.
20630, Camera job missing Output to Rapid
Description
The camera arg has a job loaded that is not created with the
"Use Output to Rapid" functionality. The "Use Output to Rapid"
functionality will be disabled until the next state change from
program mode to run mode.
Consequences
All functionality that requires the use of output to Rapid, e.g.
CamGetResult, is turned off. CamGetParameter is not affected
and will still work.
Probable causes
The "Use Output to Rapid" configuration parameter is set to
Yes, but was supposed to be set to No. The job loaded into the
camera is not correct or is not compatible with this version of
RobotWare.
Recommended actions
Set the camera in program mode. Load a valid job into the
camera or use Robot Studio to create one. In RobotStudio in
the "Vision"-tab, select "Output to RAPID" to convert parameters
to RAPID variables and save the job. Set the "Use Output to
Rapid" configuration parameter to No, if that functionality is not
indended to be used.
20631, Communication failure with camera
Description
The robot controller failed to communicate with camera arg.
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