G_Geterrid - Get Current Gripper Error Id - ABB IRB 14000 Product Manual

5 RAPID references

5.3.1.5 g_GetErrID - Get current gripper error ID

5.3.1.5 g_GetErrID - Get current gripper error ID
Usages
g_GetErrID (replacing the original Hand_GetFingerErrID) is used to retrieve
the current error ID of the gripper. The error ID indicates the error type and designed
to store the last error. Note that even if the gripper is recovered from an error state,
the error ID does not reset automatically.
Basic examples
Returned value
Data type: num
The function returns the value of current error ID.
Error handling
If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT
will be raised.
The following table provides some common hardware exceptions and related
handling actions.
Error ID
(HEX)
0x00
0x51
0x52
0x58
0x63
0x64
0x65
0xF0
0xF1
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VAR num nLeftHandLastError;
nLeftHandLastError:= g_GetErrID();
Error ID
(BCD)
0
81
82
88
99
100
101
240
241
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Description
The system runs properly.
A wrong Hall sensor feedback
is found in clockwise move-
ment.
A wrong Hall sensor feedback
is found in counter-clockwise
movement.
There is an unexpected Hall
sensor reading.
The gripper is not calibrated.
The gripper is blocked.
The object grasped by the
gripper drops.
The internal voltage is abnor-
mal.
The CPU temperature is over-
high.
Product manual - IRB 14000 gripper
Action
N/A
Check the connection
between the Hall sensor out-
put of the motor and the main
board.
Check the connection
between the Hall sensor out-
put of the motor and the main
board.
• Check the motor cable
connection.
• Check the motor or
PCB.
Calibrate the gripper and try
again.
Check whether there is any-
thing blocking the gripper.
Increase the gripping force.
• Check the power sup-
ply of the gripper.
• Check the MPB.
• Check the cooling sys-
tem.
• Check the MPB.
3HAC054949-001 Revision: H