ABB IRC5 Operating Manual page 419

90467, 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.
90468, SC arg STZ violation
Description
Safe Tool Zone (STZ) arg is violated on mechanical unit arg.
Tool arg was active.
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.
90469, 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.
90470, 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.
90471, SC arg Synchronization Timeout
Description
Synchronization time limit expired for Safety Controller (SC)
arg.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Recommended actions
Perform synchronization.
90472, 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.
90473, SC arg Dual Computer mismatch
Description
Safety Controller (SC) arg have had conflicting values for a
Safety Output for too long.
Consequences
The Safety Controller has entered a Safe State and issue an
error after 10 minutes of internal mismatch, if recommended
actions are not performed.
Probable causes
The mechanical unit have been parked at a position on, or close
to, a supervised or monitored function limit for too long time.
Internal computation error in Safety Controller.
Recommended actions
Move all mechanical units' axes and tools well inside or outside
monitored and supervised function limits.
90474, SC arg I/O Supply Failure
Description
I/O supply voltage level for Safety Controller (SC) arg is out of
range.
Probable causes
Either the voltage is out of limits or the voltage is missing.
Recommended actions
Connect 24V supply with correct voltage level to I/O supply
terminals. Restart robot controller.
90475, SC arg Synchronization rejected
Description
Safety Controller (SC) arg is not correctly configured for
synchronization.
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