ABB IRC5 Operating Manual page 424

5 Troubleshooting by event log
5.9 9 xxxx
Continued
Probable causes
The robot has moved too far from the path, due to external
forces or programmed compliance (soft servo or force control).
Recommended actions
Decrease the compliance, or limit the external forces on the
axis. Increase the Contact Application Tolerance position
tolerance in the safety configuration.
90513, Tool Position supervision violation
Description
Tool position supervision arg caused a violation of zone arg in
drive module arg. Tool arg was active and geometry arg caused
the violation.
Consequences
If configured with a stop action, the safety controller will stop
all robot movements, and no operation will be allowed until the
violation has ceased or manual mode has been selected.
Probable causes
The tool geometry entered a forbidden region.
Recommended actions
Switch to manual mode, and jog the robot out of the violation.
90514, Safety Controller Standstill violation
Description
Standstill supervision arg in the safety controller for drive
module arg is violated for axis arg.
Consequences
If configured with a stop action, the safety controller will stop
all robot movements.
Probable causes
An attempt to move the robot has been done while Standstill
supervision was active.
Recommended actions
Make sure that no supervised axis is moving while Standstill
supervision is active. Increase the Tolerance parameter for the
axis, in the configuration for Standstill supervision.
90515, Safety Controller Tool Speed violation
Description
Tool Speed supervision arg was violated in the safety controller
for drive module arg.
The cause was arg.
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Consequences
If configured with a stop action, the safety controller will stop
all robot movements.
Probable causes
TCP speed too high. Elbow speed too high. Tool speed at point
1 too high. Tool speed at point 2 too high. Tool speed at point
3 too high. Tool speed at point 4 too high. Tool speed at point
5 too high. Tool speed at point 6 too high. Tool speed at point
7 too high. Tool speed at point 8 too high. Robot wrist speed
too high. TCP speed too low.
Recommended actions
Modify the program so that all speeds are inside the configured
limits.
90516, Safety Controller Reduced Speed violation
Description
The reduced speed limit was exceeded in the safety controller
for drive module arg.
Consequences
The safety controller will stop all robot movements.
Probable causes
One or more mechanical units exceeded the reduced speed
limit. The type of speed violation was arg. TCP. Elbow. Wrist.
Axis arg.
Recommended actions
Check that the correct tool is selected in the safety controller,
matching the tool definition used for jogging or program
execution. Check that the configured manual mode speed in
the safety controller matches the value in the robot controller
configuration. If the robot is mounted on a track, set the robot
controller configuration parameter 'Use checkpoint limitation
in world' to Yes, in type Motion Planner, topic Motion. If a Cyclic
Brake Check was not performed within the specified time
interval, perform a new brake check.
90517, Safety Controller Unsynchronized speed
exceeded
Description
The unsynchronized mode speed limit was exceeded in the
safety controller for drive module arg.
Consequences
The safety controller will stop all robot movements.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA