ABB IRC5 Operating Manual page 196

5 Troubleshooting by event log
5.5 3 xxxx
Continued
Program Ref. arg .
Consequences
The force control application cannot be run.
Probable causes
The cause of noisy signals can be from tool vibrations attached
to the sensor.
It can also be an electrically issue such as bad grounding or
insufficient shielding of other devices, for instance an electrical
tool causing electrical disturbances on the measurements.
Recommended actions
If the probable cause is vibrations the recommended action is
to try build the tool in such a way that it reduces the vibration.
It can also be tested to run the RAPID instruction that fails with
the vibrating tool turned off during the FCCalib or FCLoadId.
If there are no visible vibrations then it should be investigated
if this is an electrical disturbance problem.
Use TuneMaster to compare signals 1001-1006 when: Robot
is in motors off state Robot is run by slow jogging. The electrical
tool is running. The level of sensitivity for the check can be
changed by parameter Noise Level that belongs to the type FC
Sensor, in the topic Motion. It is however only recommended
to change this level if the investigation of the cause has been
done and shows that the level is only a bit too low.
39401, Torque Current Reference Error
Description
The torque-current reference is increasing too quickly for joint
arg, connected to drive module arg.
Consequences
Probable causes
The resolver feedback may be poor or the speed loop gain may
be badly adjusted.
Recommended actions
Check the resolver cable and the resolver grounding for this
joint. If this joint is an additional axis, then check that the motor
data in the configuration file is correct. How to check the
configuration file is detailed in the Trouble Shooting Manual.
Reduce the gain of the speed loop.
39402, Motor Angle Reference Warning
Description
The motor angle reference is increasing too quickly for joint
arg, connected to drive module arg.
Consequences
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196
Probable causes
The resolver feedback may be poor or the speed loop gain may
be badly adjusted.
Recommended actions
Check the resolver cable and the resolver grounding for this
joint. If this joint is an additional axis, then check that the motor
data in the configuration file is correct. How to check the
configuration file is detailed in the Trouble Shooting Manual.
Reduce the gain of the speed loop.
39403, Torque Loop Undercurrent
Description
The torque-current controller detected too low current for joint
arg, connected to drive module arg.
Consequences
Probable causes
The motor data in the configuration files may be wrong or the
DC bus voltage may be too low.
Recommended actions
Check that the motor data in the configuration file is correct for
this joint. How to check the configuration file is detailed in the
Trouble Shooting Manual. Check that no DC bus errors are
present in the event log. Check that the incoming mains voltage
is within the specification. Check that the motor cables are not
damaged or badly connected.
39404, Torque Loop Overcurrent
Description
The field-current controller detected too high current for joint
arg, connected to drive module arg.
Consequences
Probable causes
The motor data in the configuration files may be wrong.
Recommended actions
Check that the motor data in the configuration file is correct for
this joint. How to check the configuration file is detailed in the
Trouble Shooting Manual. Check that no DC bus errors are
present in the event log. Check that the incoming mains voltage
is within the specification. Check that the motor cables are not
damaged or badly connected.
© Copyright 2005-2018 ABB. All rights reserved.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA