ABB IRC5 Operating Manual page 422

5 Troubleshooting by event log
5.9 9 xxxx
Continued
Recommended actions
Check if correct tool. Decrease speed if needed. Perform a new
tool change.
90500, Safety Controller Internal Failure
Description
An internal Failure has occurred in the safety controller.
Consequences
The safety controller will go into safe state. No operation will
be possible until restart.
Recommended actions
Check other error messages arriving at the same time for cause
of the error. Check the safety controller configuration and
installation.
90501, Safety Controller Reference Data Error
Description
The robot controller has stopped sending reference data to the
safety controller for drive module arg.
Consequences
The safety controller will stop all robot movements.
Recommended actions
Restart the program. If the problem persists, restart the system.
90502, Safety Controller SMB Communication
Failure
Description
The safety controller for drive module arg failed to communicate
with the serial measurement board (SMB).
Consequences
The safety controller will stop all robot movements.
Probable causes
Errors in the configuration of external axes. Disturbances in
the communication links between the SMB, the robot controller,
and the safety controller.
Recommended actions
Check the configuration of external axes. Check the cabling
from the axis computer to the main computer for possible
disturbances.
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90503, Safety Controller Illegal Position Value
Description
An illegal position value from the serial measurement board
was detected by the safety controller (for drive module arg.
The cause was arg.
Consequences
The safety controller will stop all robot movements.
Probable causes
The square sum of the measured positions exceeded the
configured max. The square sum of the measured positions
was below the configured minimum value. Too high acceleration
was detected in the resolver input.
Recommended actions
Check the configured square sum limits in the safety
configuration. Check the cabling to the serial measurement
board and resolvers.
90504, Safety Controller not synchronized
Description
The safety controller for drive module arg is not synchronized
with supervised mechanical units.
Probable causes
The robot has been moved while the power was off. An error
has occurred in the communication with the serial measurement
board (SMB). There is a mismatch between the calibration
position parameters in the robot controller and the safety
configuration.
Recommended actions
Perform a new synchronization of the safety controller.
90505, Safety Controller Synchronization rejected
Description
The synchronization of Safety Controller drive module arg failed.
Consequences
The safety controller will remain in the unsynchronized state.
Probable causes
One or more axes moved during synchronization. The
synchronization was not performed within the timeout limit.
Recommended actions
Make sure that the speed during synchronization is within limits,
and perform a new synchronization of the safety controller.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA