ABB IRC5 Operating Manual page 417

90330, Safety Mode not allowed
Description
The requested Safety mode is not allowed in the current
controller state.
It is not allowed to change Safety mode when in Automatic
mode.
It is not allowed to set Safety mode to Service Mode when in
Automatic or ManualFullSpeed modes.
Consequences
The operation is not performed.
Recommended actions
Change the controller state to one of the allowed modes first.
90450, SC arg CBC Speed exceeded
Description
Cyclic Brake Check (CBC) speed limit is exceeded in Safety
Controller (SC) on mechanical unit arg. Either CBC test interval
has expired or a previous brake check failed.
Recommended actions
Decrease speed and execute Brake check.
90451, SC arg Not synchronized
Description
Safety Controller (SC) arg is not synchronized with supervised
mechanical units.
Recommended actions
Move all mechanical units supervised by Safety Controller arg
to the synchronization positions defined in the safety
configuration.
90452, SC arg Synchronized
Description
Safety Controller (SC) arg is now synchronized to supervised
mechanical units. Safety supervision can be used.
90453, SC arg: Wrong Sync. Position
Description
The positions of the supervised mechanical units do not match
the synchronization positions defined in the safety configuration
for Safety Controller (SC) arg on axis arg.
Recommended actions
Check that all supervised mechanical units are positioned at
the configured synchronization position. Check that the
synchronization switch is working properly. Check that motor
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
calibration and revolution counters are updated and correct.
Check that the synchronization position in the safety
configuration is correct. Check for configuration error. Download
motor calibration values. Check if axis 4 or 6 is configured as
independent, if YES, check that the EPS configuration is
configured likewise.
90454, SC arg Servo-Lag Limit exceeded
Description
Safety Controller (SC) arg detected a too big difference between
the ordered and actual position, for mechanical unit arg on axis
arg.
Recommended actions
Check for collision. If using external axis, check Servo Lag
settings in the safety configuration. If using Soft Servo, Check
that the Operational Safety Range (OSR) Tolerance in the safety
configuration is not set too low. Verify that revolution counters
are updated. Check for communication problems to the main
computer, axis computer or the serial measurement board.
Check if tool weight is correctly defined.
90455, SC arg Incorrect Position Value
Description
Incorrect position value from serial measurement board
detected by Safety Controller (SC) arg on mechanical unit arg.
Recommended actions
Check resolver and resolver connections. Replace serial
measurement board. Replace resolver.
90456, SC arg Reference Data Timeout
Description
The robot controller has stopped sending reference data to
Safety Controller (SC) arg.
Recommended actions
Check previous error logs for possible causes. Restart the robot
controller.
90457, SC arg Changed safety configuration
Description
The safety configuration for Safety Controller (SC) arg has
changed contents or doesn't fit with the used hardware.
Probable causes
New safety configuration has been downloaded, the normal
case. The configuration doesn't fit with the used hardware.
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5 Troubleshooting by event log
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