ABB IRC5 Operating Manual page 524

5 Troubleshooting by event log
5.10 11 xxxx
Continued
Recommended actions
Reduce work space restrictions for RAPID instruction
PmCalcIntermid, e.g. decrease MinZ. Recovery: arg.
112375, Intermediate axis position outside reach
Description
An intermediate axis position cannot be reached when moving
from work area arg to work area arg. Part of intermediate
movement = arg %.
Program reference: arg
Consequences
The robot cannot perform the movement.
Probable causes
Restrictions on axis angles of the intermediate position.
Recommended actions
Reduce restrictions on axes angles for RAPID instruction
PmCalcIntermid, e.g. increase MaxAngle. Recovery: arg.
112376, Required WorkArea is not valid
Description
Task: arg
PmSetRecoverAction with selected recover action requires a
valid WokArea descriptor.
Program Ref: arg
Probable causes
1. Recover action PM_RECOVER_REDO_LAYER and
PM_RECOVER_NEXT_PALLET requires the optional argument
WorkArea to be set.
2. The WorkArea descriptor is not initialized.
3. The WorkArea is not a part of the flow arg.
Recommended actions
Recover: arg
112377, Faulty Recover Action
Description
Task: arg
arg is not one of the supported recover actions.
Program Ref: arg
Consequences
It will not be possible to start the Flow arg if it is set in error
state.
Probable causes
The recover action is not one of
PM_RECOVER_CONTINUE_OPERATION,
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524
PM_RECOVER_REDO_LAYER, PM_RECOVER_NEXT_PALLET
or PM_RECOVER_REDO_LAST_PICK.
Recommended actions
Recover: arg
112378, Flow is already starting up
Description
Task: arg
The flow arg is already starting up. Only one call to PmFlowStart
is allowed at each time.
Program Ref: arg
Consequences
The RAPID program is immediately halted.
Recommended actions
Check the RAPID program for multiple use of PmFlowStart to
same flow.
112379, Wrong flow state
Description
Task: arg
It is not possible to start flow arg in current state.
Program Ref: arg
Consequences
The RAPID program is immediately halted.
Probable causes
The flow is probably set in a sever error state that can not be
recover from.
Recommended actions
Recover: arg
112380, Failed to recover from an error state
Description
Task: arg
The start of flow arg from an error state failed.
Program Ref: arg
Consequences
The RAPID program is immediately halted.
112381, Redo last pick is not allowed in current
position
Description
Task: arg
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA