ABB IRC5 Operating Manual page 407

90213, Two channel fault
Description
A brief status change in any of the run or enable chains has
been detected.
Consequences
The system goes to status SYS HALT.
Probable causes
This may be caused by a number of faults. The enable and run
chains are described in the Trouble Shooting Manual, IRC5.
Recommended actions
Check cables and connections. Check other event messages
occurring at the same time to determine the cause of the fault.
To assist in returning the chains to a defined status, first
pressing, then resetting the Emergency Stop may work.
90214, Limit Switch open, DRV1
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by
the limit switches fitted to the robot.
Recommended actions
Press an eventual existing external "Override Limit" button and
manually jog the robot back into the working area. Resume
operation.
90215, Superior Stop open
Description
The Superior Mode Safeguarded Stop circuit has been opened.
Consequences
The system goes to the Superior Stop status.
Probable causes
One or more of the switch connected in series with the Superior
Mode Safeguarded Stop circuit have been opened, which may
be causes by a large number of faults. This is possible in any
operational mode. The Superior Mode Safeguarded Stop circuit
is described in the Trouble Shooting Manual.
Recommended actions
Locate the switch, reset it and restart the controller.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
90216, Enabling device active in Auto mode
Description
The system has detected that the enabling device has been
pressed for more than 3 seconds in Automatic operating mode.
Consequences
The system goes to status Guard Stop.
Recommended actions
Release the enabling device. Switch to Manual mode.
90217, Limit Switch open, DRV2
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by
the limit switches fitted to the robot.
Recommended actions
Press an eventual existing external "Override Limit" button and
manually jog the robot back into the working area. Resume
operation.
90218, Limit Switch open, DRV3
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by
the limit switches fitted to the robot.
Recommended actions
Press an eventual existing external "Override Limit" button and
manually jog the robot back into the working area. Resume
operation.
90219, Limit Switch open, DRV4
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by
the limit switches fitted to the robot.
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5 Troubleshooting by event log
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