ABB IRC5 Operating Manual page 453

Probable causes
You try to start the process on a CAP instruction, where the
value for capdata.first_instr is not set to TRUE.
Recommended actions
Either set the value for capdata.first_instr to TRUE
or
Move the PP to a CAP instruction with capdata.first_instr =
TRUE
or
Move the PP to an instruction that is not a CAP instruction.
110027, Robot movement is blocked
Description
Task: arg
It is not possible to start the robot movement.
arg
Probable causes
The RAPID instruction 'StopMove' has been executed prior to
this movement instruction.
Recommended actions
You have to execute the RAPID instruction 'StartMove' or
'StartMoveRetry' to unblock the movement of the Robot.
110030, Invalid ICap Event
Description
Task: arg
arg is invalid as event for the instruction ICap.
arg
Recommended actions
Use one of the valid ICap events described in the reference
manual for CAP.
110032, No TRAP routine for CAP_STOP
Description
Task: arg
CAP requires a RAPID TRAP routine to be defined for the event
CAP_STOP.
This is necessary as to stop external equipment when RAPID
execution stops.
arg
Recommended actions
Add a TRAP routine for CAP_STOP in your RAPID code.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
110034, Skip without process finished
Description
The robot has reached the end of the distance it was requested
to move without active application process.
Recommended actions
Recovery:
You might want to handle errno arg in your error handler
110035, Process start position reached
Description
Task: arg.
The look-ahead buffer for tracking is filled and the robot TCP
has reached the programmed start position for the application
process.
arg.
Consequences
This recoverable error occurs if you have used the optional
argument '\FillTrBuff' in the first CAP instruction of a sequence.
Recommended actions
You might want to handle errno arg in your error handler.
110040, Process Supervision Phase END_PRE
Description
Task: arg
Supervision failed for process phase END_PRE.
arg
Recommended actions
Check the signal(s) that failed:
arg
arg
Recovery:
You might want to handle errno arg in your error handler
110041, Process Supervision Phase
START_POST1
Description
Task: arg
Supervision failed for process phase START_POST1.
arg
Recommended actions
Check the signal(s) that failed:
arg
arg
Recovery:
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5 Troubleshooting by event log
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