ABB IRC5 Operating Manual page 145

20464, SC arg OSR Limit exceeded
Description
Safety Controller (SC) arg detected a too big difference between
the ordered and actual position inside Operational Safety Range
(OSR), for mechanical unit arg on axis arg.
Recommended actions
Check for collision. Check that Operational Safety Range (OSR)
Tolerance in the safety configuration is not set too low.
Synchronize the Safety Controller, if the revolution counters
have been updated since last synchronization.
20465, SC arg SAS Speed exceeded
Description
Safe Axis Speed (SAS) violation on mechanical unit arg axis
arg on Safety Controller (SC).
Recommended actions
Decrease speed on axis arg.
20466, SC arg Input/Output Failure
Description
I/O Error on Safety Controller (SC) arg I/O arg Type arg.
Type 1: Input.
Type 2: Output.
Probable causes
Wrong connection to I/O terminals on SC. Two channel I/O
mismatch.
Recommended actions
Check SC cabling. Check SC health. Restart robot controller,
after performing recommended actions.
20467, SC arg STS speed exceeded
Description
Safe reduced Tool Speed (STS) in Safety Controller (SC) on
mechanical unit arg too high. Cause arg.
Probable causes
Tool0 speed. Elbow speed. Tool speed. Additional axis speed.
Recommended actions
Reduce tool speed.
20468, SC arg STZ violation
Description
Safe Tool Zone (STZ) arg is violated on mechanical unit arg.
Tool arg was active.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Cause arg.
Probable causes
Exceeded speed. Wrong tool position. Wrong tool orientation.
Wrong elbow position. Wrong tool point 1 position. Wrong tool
point 2 position. Wrong tool point 3 position. Wrong tool point
4 position. Wrong tool point 5 position. Wrong tool point 6
position. Wrong tool point 7 position. Wrong tool point 8
position.
Recommended actions
Reduce speed. Move robot tool to safe position. Adjust tool
orientation.
20469, SC arg SAR violation
Description
Safe Axis Range (SAR) arg is violated on mechanical unit arg
axis arg.
Recommended actions
Move mechanical unit to safe position.
20470, SC arg Synchronization Pre-warning
Description
Synchronization required for mechanical units supervised by
Safety Controller (SC) arg in less than arg hour(s).
Recommended actions
Perform synchronization before the time limit expires.
20471, SC arg Synchronization Timeout
Description
Synchronization time limit expired for Safety Controller (SC)
arg.
Recommended actions
Perform synchronization.
20472, SC arg New safety configuration
Description
Safety Controller (SC) arg has received a new safety
configuration. A new PIN-code is needed to activate.
Recommended actions
Log in as a user with safety configuration grants. Enter new
PIN-Code for the Safety Controller in the Control Panel.
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5 Troubleshooting by event log
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