ABB IRC5 Operating Manual page 195

Consequences
The application that uses this PMC card cannot be run.
Probable causes
The error is probably an 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
measurement 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 cannot be run until cable is connected or replaced.
Safety channel supervision can be disconnected in the motion
configuration.
Probable causes
The cable is not attached correctly. The cable has damage to
the connectors or the cable itself. The sensor cable does not
have safety channel.
Recommended actions
Assure that the cable is connected properly 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 measured 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 applied 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.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
38235, Saturation warning of force sensor input
Description
The analog input values of the measurement board connected
to the force sensor have saturated and the time in saturation
has reached the warning level.
The measurement 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 measurement board is not
damaged.
Increase the system parameter: time in saturation before
warning
38236, Saturation error of force sensor input
Description
The analog input values of the measurement board connected
to the force sensor have saturated and the time in saturation
has reached the error level. The measurement 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 measurement board is not
damaged. Increase the system parameter: time in saturation
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.
Recommended actions
Check the configuration.
38238, Force Sensor has too noisy signals
Description
The force sensor detected signals with noise level higher than
expected.
Task: arg.
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5 Troubleshooting by event log
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