ABB IRC5 Operating Manual page 437

90668, Emergency Stop Status input could not
be tested
Description
Emergency Stop Status input could not be tested because
emergency stop circuit is broken.
Consequences
The system remains in the Emergency Stop status.
Probable causes
An emergency stop button has been pressed. The cable to the
safety controller is not connected.
Recommended actions
Reset the emergency stop button triggering the stop. Attach
the cable to the safety controller.
90669, Drive Enable Feedback is open
Description
The Drive Enable Feedback input to the safety controller is
open.
Consequences
The system will stop all robot movements in automatic mode.
Probable causes
The Drive Enable Feedback signal is open. The cable to the
safety controller is not connected.
Recommended actions
Make sure the Drive Enable Feedback signal is closed. Attach
the cable to the safety controller.
90670, Detachable TPU is allowed
Description
Detachable TPU is allowed for arg seconds.
Emergency stop on the TPU will not work during this period.
The detached TPU must immediately be stored away.
90671, The TPU has been detached
Description
The TPU has been detached. The emergency stop button on
the TPU no longer functions.
The detached TPU must immediately be stored away.
90672, The TPU has been reattached
Description
The TPU has been reattached to the robot controller.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
The functionality of the emergency stop button must be verified
by the operator.
90673, Repeating detach of TPU request detected
Description
Repeating detach of TPU request detected.
Consequences
The system will stop all robot movements.
Probable causes
The operator has requested to detach the TPU within 5 seconds
of the end of the previous detach period.
Recommended actions
Restart the robot controller.
90674, Detaching a TPU is not allowed because
the emergency stop is activated
Description
Detaching a TPU is not allowed because the emergency stop
on the TPU is activated.
Recommended actions
Release the emergency stop button on the TPU and try again.
90681, CL version attribute is missing
Description
The version attribute is missing in the CL configuration.
Consequences
The system will stop all robot movements.
Probable causes
The safety configuration has not been created using
RobotStudio.
Recommended actions
Update the safety configuration.
90682, CL version is invalid
Description
The safety configuration contains an unsupported version arg
for the CL configuration on line arg.
Consequences
The system will stop all robot movements.
Probable causes
The safety configuration has not been created using
RobotStudio.
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5 Troubleshooting by event log
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