ABB IRC5 Operating Manual page 560

5 Troubleshooting by event log
5.12 13 xxxx
Continued
interpolator.
Recommended actions
1. Check in error log for the servo
errors given.
2. Fix the actual servo problem and
retry the system.
133507, Invalid interpolator step
Description
SDI board has discovered an invalid
interpolator step in the system. The
interpolator on the SDI board has tried
to set an illegal step length, or too
high speed is set in the move program.
Recommended actions
1. Check program for too high speed.
2. Check for configuration error
(gear ratio, etc.).
3. Interpolator error.
4. Contact customer support.
133508, Servo read error
Description
SDI board has discovered a servo read
error. The interpolator on the SDI board
has failed to read from a servo.
Recommended actions
1. Check in error log for the servo
errors given.
2. Replace SDI board.
133509, Handler not in position
Description
SDI board has discovered that the
handler has not reached the correct
position, after a specified time.
Recommended actions
1. Check for servo errors.
2. Check for interpolator errors.
3. Replace SDI board.
133512, Command toggle error.
Description
A command toggle was sent to the
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560
SDI board while the acknowledge
signal was high.
Recommended actions
1. Assure that the command toggle signal
is low before toggling a new command.
133550, Joint speed error
Description
The speed of joint arg deviates too much
relative to the ordered speed.
Recommended actions
1. Check the parameters.
2. Check for external forces.
3. Reduce programmed speed and
acceleration.
133551, Move not allowed
Description
The handler is ordered to move to an
illegal position: arg= arg
Recommended actions
1. Check position limits.
2. Check position data.
3. Check signal CPYLimOverride.
134001, Fatal queue error
Description
It was not possible to pop the job queue, due to an unexpected
error.
134002, Queue overflow
Description
The last job in the queue was removed because the queue is
full.
Consequences
The last job will not be executed.
Recommended actions
Wait for queue size to decrease before inserting more jobs.
134003, Invalid token
Description
Token arg is out of bounds.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA