ABB Alarm Codes 20200 – 20400

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20200, Limit Switch opened by SC
Description
The limit switch on the robot has been opened by the Safety Controller
(SC)
Consequences
The system goes to the Guard stop state.
Probable causes
The Safety Controller has opened the limit switch because of a safety
violation.
Recommended actions
1) Check for reason found in other event logs.
2)Check the cable between the contactor board and the Safety
Controller
3)Do a Confirm Stop by pressing the Motors on push button or by
activating the appropriated system input.

20201, Limit Switch open
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by the limit
switches fitted to the robot.
Recommended actions
1) Press an eventual existing external “Override Limit” button and
manually
jog the robot back into the working area.
2) Resume operation.

20202, Emergency Stop open
Description
The emergency stop circuit has previously been broken, and while
broken, an attempt was made to operate the robot.
Consequences
The system remains in the Emergency Stop status.
Probable causes
An attempt has been made to manoeuvre a control, e.g. the enabling
device.
Recommended actions
1) To resume operation, first reset the emergency stop button triggering
the stop.
2) Then switch the system back to state Motors ON by pressing the
Motors ON button on the Control Module.

20203, Enabling Device open
Description
Only one of the two Enabling Device chains was opened.
Consequences
The system goes to status SYS HALT.
Probable causes
The teach pendant Enabling Device may be faulty or incorrectly
connected. The teach pendant and its Enabling Device is described in
the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check the teach pendant cable and its connection.
2) If required, replace the faulty teach pendant or its cable.

20204, Operation Key imbalance
Description
The system has detected an imbalance in the two parallel MANUAL /
AUTO Operation Key circuits.
Probable causes
The contact pair in any of the cables connected to the Operation Key
circuit is not working correctly.
Recommended actions
1) Isolate the cable connection causing the conflict
2) Connect the cable in a correct way

20205, Auto Stop open
Description
The Automatic Mode Safeguarded Stop circuit has been broken.
Consequences
The system goes to the Auto Stop status.
Probable causes
One or more of the switch connected in series with the Automatic
Mode Safeguarded Stop circuit have been opened, which may be
causes by a large number of faults. This is only possible while in the
Auto operational mode. The Automatic Mode Safeguarded Stop
circuit is described in the Trouble Shooting Manual.
Recommended actions
1) Locate the switch, reset it and restart the system.
2) Check cables and connections.

20206, General Stop open
Description
The General Mode Safeguarded Stop circuit has been broken.
Consequences
The system goes to the General Stop status.
Probable causes
One or more of the switch connected in series with the General Mode
Safeguarded Stop circuit have been opened, which may be causes by a
large number of faults. This is possible in any operational mode. The
General Mode Safeguarded Stop circuit is described in the Trouble
Shooting Manual.
Recommended actions
1) Locate the switch, reset it and restart the system.
2) Check cables and connections.

20208, Chain switches open
Description
A safety chain, other than Auto Stop and General Stop, has been
broken.
Consequences
The system goes to the Guard Stop status.
Probable causes
One or more of the switch connected in series with the RUN Chain Top
circuit have been opened, which may be causes by a large number of
faults. The RUN Chain Top is described in the Trouble Shooting
Manual and Circuit Diagram.
Recommended actions
1) Check other error messages for primary fault reason.
2) Locate the switch, reset it and restart the system.
3) Check cables and connections.

20209, External Contactor open
Description
An external contactor has been opened.
Consequences
The system goes from the Motors OFF status to SYS HALT when
attempting to start.
Probable causes
The RUN chain of external equipment has been broken, which may be
caused by the external contactor auxiliary contacts or, if used, any
PLC, controlling it. The external contactor supplies power to a piece of
external equipment, equivalently to how the RUN contactor supplies a
robot. This fault may occur when attempting to go to the Motors ON
mode only. The RUN chain is described in the Trouble Shooting
Manual and Circuit Diagram.
Recommended actions
1) Locate the switch, reset it and restart the system.
2) Check cables and connections.
3) Check the external contactor auxiliary contacts.
4) If used, check any PLC equipment controlling the external
contactor.

20211, Two channel fault, ENABLE chain
Description
A switch in only one of the two ENABLE chains was briefly affected,
opening the chain and then reclosing it, without the other chain being
affected.
Consequences
The system goes to status SYS HALT.
Probable causes
There may be a loose signal connection on either the axis computer or
the Safety System. The ENABLE chain is described in the Trouble
Shooting Manual and Circuit Diagram.
Recommended actions
1) Check cables and connections.
2) Make sure all signal connectors on the axis computer board and the
Safety System are securely connected.
3) If there is no loose connection, replace the faulty board.

20212, Two channel fault, RUN CHAIN
Description
Only one of the two RUN chains was closed.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the RUN chain may be faulty or not
correctly connected, causing only one channel to close. The RUN
chain is described in the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) To assist in returning the chains to a defined status, first pressing,
then resetting the Emergency Stop
5) If there is no loose connection, replace the faulty switch.

20213, Two channel fault
Description
A brief status change in any of the RUN or ENABLE chains has been
detected.
Consequences
The system goes to status SYS HALT.
Probable causes
This may be caused by a number of faults. The ENABLE and RUN
chains are described in the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine the cause of the fault.
3) To assist in returning the chains to a defined status, first pressing,
then resetting the Emergency Stop may work.

20214, Limit Switch open, DRV1
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by the limit
switches fitted to the robot.
Recommended actions
1) Press an eventual existing external “Override Limit” button and
manually
jog the robot back into the working area.
2) Resume operation.

20215, Superior Stop open
Description
The Superior Mode Safeguarded Stop circuit has been opened.
Consequences
The system goes to the Superior Stop status.
Probable causes
One or more of the switch connected in series with the Superior Mode
Safeguarded Stop circuit have been opened, which may be causes by a
large number of faults. This is possible in any operational mode. The
Superior Mode Safeguarded Stop circuit is described in the Trouble
Shooting Manual.
Recommended actions
1) Locate the switch, reset it and restart the system.

20216, Enabling device active in Auto mode
Description
The system has detected that the Enabling device has been pressed for
more than 3 seconds in Automatic operating mode.
Consequences
The system goes to status Guard Stop.
Recommended actions
1. Release the Enabling device
2. Switch to Manual mode

20217, Limit Switch open, DRV2
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by the limit
switches fitted to the robot.
Recommended actions
1) Press an eventual existing external “Override Limit” button and
manually
jog the robot back into the working area.
2) Resume operation.

20218, Limit Switch open, DRV3
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by the limit
switches fitted to the robot.
Recommended actions
1) Press an eventual existing external “Override Limit” button and
manually
jog the robot back into the working area.
2) Resume operation.

20219, Limit Switch open, DRV4
Description
The limit switch on the robot has opened.
Consequences
The system goes to the Motors OFF status.
Probable causes
The robot has been run outside the working range defined by the limit
switches fitted to the robot.
Recommended actions
1) Press an eventual existing external “Override Limit” button and
manually
jog the robot back into the working area.
2) Resume operation.

20220, Superior stop conflict
Description
Only one of the two Superior Mode Safeguarded Stop chains was
opened.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the Superior Stop chain may be
faulty or not correctly connected, causing only one channel to close.
The Superior Stop chain is described in the Trouble Shooting Manual,
IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) If there is no loose connection, replace the faulty switch.

20221, Run chain conflict
Description
Status conflict
for Run chain.
Recommended actions
Please check the Run chain cables.

20222, Limit switch conflict
Description
Only one of the two Limit switch chains was opened.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the Limit switch chain may be faulty
or not correctly connected, causing only one channel to close. The
Limit switch chain is described in the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) If there is no loose connection, replace the faulty switch.

20223, Emergency Stop conflict
Description
Only one of the two Emergency Stop chains was opened.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the Emergency Stop chain may be
faulty or not correctly connected, causing only one channel to close.
The Emergency Stop chain is described in the Trouble Shooting
Manual, IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) If there is no loose connection, replace the faulty switch.

20224, Enabling Device conflict
Description
Only one of the two Enabling Device chains was opened.
Consequences
The system goes to status SYS HALT.
Probable causes
The teach pendant Enabling Device may be faulty or incorrectly
connected. The teach pendant and its Enabling Device is described in
the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check the teach pendant cable and its connection.
2) If required, replace the faulty teach pendant or its cable.

20225, Auto Stop conflict
Description
Only one of the two Automatic Mode Safeguarded Stop chains was
opened.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the Auto Stop chain may be faulty or
not correctly connected, causing only one channel to close. The Auto
Stop chain is described in the Trouble Shooting Manual, IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) If there is no loose connection, replace the faulty switch.

20226, General Stop conflict
Description
Only one of the two General Mode Safeguarded Stop chains was
opened.
Consequences
The system goes to status SYS HALT.
Probable causes
Any of the switches connected to the General Stop chain may be faulty
or not correctly connected, causing only one channel to close. The
General Stop chain is described in the Trouble Shooting Manual,
IRC5.
Recommended actions
1) Check cables and connections.
2) Check other event log messages occurring at the same time to
determine which switch caused the fault.
3) Make sure all switches are working correctly.
4) If there is no loose connection, replace the faulty switch.

20227, Motor Contactor conflict, DRV1
Description
Only one of the two Motor Contactors for drive system 1 has
acknowledged the activation order.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the motor contactor auxiliary contacts or the supply to
these.
Recommended actions
1) Check cables and connections.
2) Check the function of the auxiliary contacts.

20231, Delayed Emergency Stop due to circuit
imbalance
Description
The system has detected an imbalance in the two parallel Emergency
Stop circuits.
Consequences
The system goes to status Emergency Stop after approximately 1 sec.
Probable causes
The contact pair in any of the Emergency Stop buttons is not working
correctly.
Recommended actions
1. Isolate the Emergency Stop button causing the conflict.
2. Check the contact pair.
3. Make sure all connections are tight.
4. Replace the button if required.

20232, Delayed Auto Stop due to circuit
imbalance
Description
The system has detected an imbalance in the two parallel Auto Stop
circuits.
Consequences
The system goes to status Guard Stop after approximately 1 sec.
Probable causes
The contact pair in any of the safety devices connected to the Auto
Stop circuit is not working correctly.
Recommended actions
1. Isolate the safety device causing the conflict.
2. Make sure the device used is a two-channel device.
3. Check the contact pair.
4. Make sure all connections are tight.
5. Replace the device if required.

20233, Delayed General Stop due to circuit
imbalance
Description
The system has detected an imbalance in the two parallel General Stop
circuits.
Consequences
The system goes to status Guard Stop after approximately 1 sec.
Probable causes
The contact pair in any of the safety devices connected to the General
Stop circuit is not working correctly.
Recommended actions
1. Isolate the safety device causing the conflict.
2. Make sure the device used is a two-channel device.
3. Check the contact pair.
4. Make sure all connections are tight.
5. Replace the device if required.

20234, Immediate Emergency Stop
Description
The Emergency Stop circuits have been broken.
Consequences
The system goes directly to status Emergency Stop.
Probable causes
One or more of the red emergency stop buttons have been activated.
Recommended actions
1) Isolate the Emergency Stop button that was opened.
2) Reset the button.

20235, Immediate Auto Stop
Description
The Auto Stop circuits have been broken.
Consequences
The system goes directly to status Guard Stop.
Probable causes
One or more of the safety device switches in the Auto Stop circuit have
been opened
Recommended actions
1) Isolate the safety device that was opened
2) Reset the device switch.

20236, Immediate General Stop
Description
The General Stop circuits have been broken.
Consequences
The system goes directly to status Guard Stop.
Probable causes
One or more of the safety device switches in the General Stop circuit
have been opened
Recommended actions
1) Isolate the safety device that was opened
2) Reset the device switch.

20237, Immediate Superior Stop
Description
The Superior Stop circuits have been broken.
Consequences
The system goes directly to status Guard Stop.
Probable causes
One or more of the safety device switches in the Superior Stop circuit
have been opened
Recommended actions
1) Isolate the safety device that was opened
2) Reset the device switch.

20238, Delayed Superior Stop due to circuit
imbalance
Description
The system has detected an imbalance in the two parallel Superior Stop
circuits.
Consequences
The system goes to status Guard Stop after approximately 1 sec.
Probable causes
The contact pair in any of the safety devices connected to the Superior
Stop circuit is not working correctly.
Recommended actions
1. Isolate the safety device causing the conflict.
2. Make sure the device used is a two-channel device.
3. Check the contact pair.
4. Make sure all connections are tight.
5. Replace the device if required.

20240, Conflict between ENABLE signals
Description
A switch in only one of the two ENABLE chains was affected, without
the other chain being affected.
Consequences
The system goes to status SYS HALT.
Probable causes
There may be a loose signal connection on the Safety System. The
ENABLE chain is described in the Trouble Shooting Manual and
Circuit Diagram.
Recommended actions
1) Check cables and connections.
2) Make sure all signal connectors on the Safety System are securely
connected.
3) If there is no loose connection, replace the faulty board.

20241, Operating mode conflict
Description
There is a conflict between the operating mode selected on the
operating mode selector on the controller cabinet front and the actual
operating mode as detected by the axis computer.
Consequences
The system goes to status SYS HALT.
Probable causes
There may be a hardware fault in the operating mode selector or its
cabling to the Safety System.
Recommended actions
Check the operating mode selector and its cabling to the Safety
System.

20245, Run Control status conflict, DRV2
Description
Status conflict between Run Control and Motor Contactors for drive
system 2.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the Motor Contactors or the supply to these.
Recommended actions
1) Check cables and connections.
2) Do a Warm start.

20246, Run Control status conflict, DRV3
Description
Status conflict between Run Control and Motor Contactors for drive
system 3.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the Motor Contactors or the supply to these.
Recommended actions
1) Check cables and connections.
2) Do a Warm start.

20247, Run Control status conflict, DRV4
Description
Status conflict between Run Control and Motor Contactors for drive
system 4.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the Motor Contactors or the supply to these.
Recommended actions
1) Check cables and connections.
2) Do a Warm start.

20248, Motor Contactor conflict, DRV2
Description
Only one of the two Motor Contactors for drive system 2 has
acknowledged the activation order.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the motor contactor auxiliary contacts or the supply to
these.
Recommended actions
1) Check cables and connections.
2) Check the function of the auxiliary contacts.

20249, Motor Contactor conflict, DRV3
Description
Only one of the two Motor Contactors for drive system 3 has
acknowledged the activation order.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the motor contactor auxiliary contacts or the supply to
these.
Recommended actions
1) Check cables and connections.
2) Check the function of the auxiliary contacts

20250, Motor Contactor conflict, DRV4
Description
Only one of the two Motor Contactors for drive system 4 has
acknowledged the activation order.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the motor contactor auxiliary contacts or the supply to
these.
Recommended actions
1) Check cables and connections.
2) Check the function of the auxiliary contacts.

20252, Motor temperature high, DRV1
Description
Over temperature in Manipulator Motor. Make sure to let the Motor
cool down before ordering Motors On again.
Recommended actions
1) Wait until the overheated Motor has cooled down before ordering
Motors On again.
2) If optional air filter is used, check if it is clogged and has to be
exchanged

20253, External device temperature high, DRV1
Description
Over temperature in External Device. Make sure to let the External
Device cool down before ordering Motors On again.
Recommended actions
Wait until the overheated Motor has cooled down before ordering
Motors On again.

20254, Motor temperature high, DRV2
Description
Over temperature in Manipulator Motor. Make sure to let the Motor
cool down before ordering Motors On again.
Recommended actions
1) Wait until the overheated Motor has cooled down before ordering
Motors On again.
2) If optional air filter is used, check if it is clogged and has to be
exchanged

20255, External device temperature high, DRV2
Description
Over temperature in External Device. Make sure to let the External
Device cool down before ordering Motors On again.
Recommended actions
Wait until the overheated Motor has cooled down before ordering
Motors On again.

20256, Motor temperature high, DRV3
Description
Over temperature in Manipulator Motor. Make sure to let the Motor
cool down before ordering Motors On again.
Recommended actions
1) Wait until the overheated Motor has cooled down before ordering
Motors On again.
2) If optional air filter is used, check if it is clogged and has to be
exchanged

20257, External device temperature high, DRV3
Description
Over temperature in External Device. Make sure to let the External
Device cool down before ordering Motors On again.
Recommended actions
Wait until the overheated Motor has cooled down before ordering
Motors On again.

20258, Motor temperature high, DRV4
Description
Over temperature in Manipulator Motor. Make sure to let the Motor
cool down before ordering Motors On again.
Recommended actions
1) Wait until the overheated Motor has cooled down before ordering
Motors On again.
2) If optional air filter is used, check if it is clogged and has to be
exchanged

20259, External device temperature high, DRV4
Description
Over temperature in External Device. Make sure to let the External
Device cool down before ordering Motors On again.
Recommended actions
Wait until the overheated Motor has cooled down before ordering
Motors On again.

20260, Run Control status conflict, DRV1
Description
Status conflict between Run Control and Motor Contactors for drive
system 1.
Consequences
The system goes to status SYS HALT.
Probable causes
A failure of the Motor Contactors or the supply to these.
Recommended actions
1) Check cables and connections.
2) Do a Warm start.

20262, SC arg Not found
Description
The system has an option for arg Safety Controller (SC) on drive
module arg, but no Safety Controller was found.
Recommended actions
– Check Safety Controller cabling.
– Check Safety Controller health.
Warm start controller, after performing recommended actions.

20263, SC arg Communication Failure
Description
Communication error with Safety Controller (SC) arg
Recommended actions
– Check Safety Controller cabling.
– Check Safety Controller health.
Warm start controller, after performing recommended actions.

20264, SC arg Option Not Present
Description
Found arg Safety Controller (SC) on drive module arg.This system
does not have the option for a Safety Controller on that drive module.
Recommended actions
– Check drive module software options.
– Install a system with Safety Controller option.

20265, SC Soft Stop Error
Description
Safety Controller (SC) Soft Stop has not opened the Motor Contactors
within the calculated time
Recommended actions
Check Lim-switch connection if SafeMove is present

20266, SC arg PIN Code Request
Description
Safety Controller (SC) arg has a new Safety Configuration and
needs a new PIN code to be activated.
Recommended actions
1. Log in as a user with Safety Configuration grants.
2. Enter new PIN-Code for the Safety Controller in the Control Panel.

20267, SC arg Initialization Failed
Description
Safety Controller (SC) arg failed to initialize properly, or failed to
respond during start up.
Recommended actions
1. Check previous error logs for possible causes.
2. Restart the system.

20268, SC arg Wrong Type
Description
Found arg Safety Controller (SC) on drive module arg, expected
arg.
Recommended actions
– Check drive module software options.
– Install a system with correct Safety Controller option.
– Install a Safety Controller of the correct type.

20270, Access error
Description
Panel Module access error.
Recommended actions
Examine your I/O configuration files.

20280, Symbol conflict
Description
The signal arg defined in the IO
configuration conflict with another
program symbol with the same name.
Due on that fact the signal will not be
mapped to a program variable.
Recommended actions
Rename the signal in
the IO configuration.

20281, IO configuration error
Description
argarg with signal
name arg has wrong signal
type. Found arg expected arg.
Recommended actions
Change your configuration
and restart the system.

20282, Resource and index exist
Description
Resource arg
Index arg.
Recommended actions

20283, Text database is full.
Description
Resource arg
Index arg
Recommended actions

20284, Wrong Signal Type For System Input
Description
The System Input arg is configured with an I/O-signal of
wrong type.
The I/O-signal arg is of type arg and this System Input
requires an I/O-signal of type arg.
Recommended actions
Change the configuration for the specified System Input.

20285, Wrong Signal Type For System Output
Description
The System Output arg is configured with an I/O-signal of
wrong type.
The I/O-signal arg is of type arg and this System Output
requires an I/O-signal of type arg.
Recommended actions
Change the configuration for the specified System Output.

20286, Not Unique I/O-Signal For System
Output
Description
Each System Output must have a unique I/O-signal configured.
It is not possible to configure same I/O-signal to several System
Outputs.
System Output: arg
Signal Name: arg
Recommended actions

20287, Not Unique I/O-signal For System Input
Description
Each System Input must have a unique I/O-signal configured.
It is not possible to configure same I/O-signal to several System Inputs.
System Input: arg
Signal Name: arg

20288, Unknown System Output Type
Description
The configured System Output type is unknown by the system.
Unknown System Output: arg
Recommended actions
Verify that the System Output name is correctly spelled.

20289, Unknown System Input Type
Description
The configured System Input type is unknown by the system.
Unknown System Input: arg
Recommended actions
Verify that the System Input name is correctly spelled.

20290, Unknown Mechanical Unit Name For
System Output
Description
A System Output is configured with a mechanical unit name which is
unknown by the system.
System Output: arg
Mechanical unit name: arg
Recommended actions
The specified mechanical unit must be configured in order to be used
by System Outputs
Verify that the mechanical unit name is correctly spelled.

20291, Unknown System Input Restriction Type
Description
The configured System Input Restriction Type is unknown by the
system.
Unknown System Input Restriction: arg
Recommended actions
Verify that the System Input Restriction name is correctly spelled.

20292, Unknown System Input Restriction
Description
The configured System Input Restriction is unknown by the system.
System Input Restriction Type: arg
Unknown System Input Restriction: arg
Recommended actions
Verify that the System Input Restriction name is correctly spelled.

20293, System Input is Restricted
Description
The system input arg is restricted by the system input arg set by I/O
signal arg.
Consequences
The action called for by system input arg will not take place, and the
operation will NOT be affected.
Probable causes
System input arg may be set by external equipment, such as PLCs, etc,
for a number of reasons.
Recommended actions
1) Investigate why the system input was set, and, if required, correct
the reason.

20294, Action arg can not be fulfilled.
Description
The requested action cannot be fulfilled since the IO unit is not
responding.
Consequences
It is not possible to decide if there are any restrictions set to the action.
Probable causes
The requested action will not be fulfilled until the I/O unit is enabled
again.
Recommended actions
Never disable a unit with System Inputs/Outputs.

20295, Signal cannot be used as System
Output.
Description
The System Output arg is configured with an I/O-signal with wrong
category. The I/O-signal arg has category Safety and can not be used
as System Output.
Recommended actions
Choose another signal or set to another category.

20296, Wrong task name configured
Description
Wrong task name arg configured for System Output arg.
Consequences
The digital output signal will not be connected to the specified event.
Recommended actions
Change the configuration and restart the system

20307, Motor cooling fan malfunction, axis 1
Description
The axis 1 motor cooling fan on the robot connected to Drive Module
arg does not work correctly.
Consequences
The full meaning of this status is described in the Trouble Shooting
Manual, IRC5.
Probable causes
-The fan power cabling may be damaged or not connected correctly to
motor or contactor unit.
-The fan or the Drive Module Power Supply may be faulty.
Recommended actions
1) Make sure the fan cable is correctly connected
2) Make sure the fan is free to rotate and that the air flow is not
obstructed.
3) Make sure the Drive Module Power Supply output and input
voltages are within specified limits as detailed in the Trouble shooting
manual. Replace any faulty unit.

20308, Motor cooling fan malfunction, axis 2
Description
The axis 2 motor cooling fan on the robot connected to Drive Module
arg does not work correctly.
Consequences
The full meaning of this status is described in the Trouble Shooting
Manual, IRC5.
Probable causes
-The fan power cabling may be damaged or not connected correctly to
motor or contactor unit.
-The fan or the Drive Module Power Supply may be faulty.
Recommended actions
1) Make sure the fan cable is correctly connected
2) Make sure the fan is free to rotate and that the air flow is not
obstructed.
3) Make sure the Drive Module Power Supply output and input
voltages are within specified limits as detailed in the Trouble shooting
manual. Replace any faulty unit.

20309, Motor cooling fan malfunction, axis 3
Description
The axis 3 motor cooling fan on the robot connected to Drive Module
arg does not work correctly.
Consequences
The full meaning of this status is described in the Trouble Shooting
Manual, IRC5.

Probable causes
-The fan power cabling may be damaged or not connected correctly to
motor or contactor unit.
-The fan or the Drive Module Power Supply may be faulty.
Recommended actions
1) Make sure the fan cable is correctly connected
2) Make sure the fan is free to rotate and that the air flow is not
obstructed.
3) Make sure the Drive Module Power Supply output and input
voltages are within specified limits as detailed in the Trouble shooting
manual. Replace any faulty unit.

20310, SC arg Communication Failed
Description
An error occurred while trying to communicate with Safety
Controller (SC) arg
Recommended actions
– Check Safety Controller cabling.
– Check Safety Controller health.
Warm start controller, after performing recommended actions.

20311, Enable 1 open
Description
The ENABLE 1 circuit monitoring the Safety System has been
opened.
Consequences
The system goes to status SYS HALT.
Probable causes
There may be an internal fault in the Safety System or the internal
supervision has detected a fault.
Recommended actions
1) Check all connections to the Safety System.
2) If faulty, replace the faulty board.

20312, Enable 2 open
Description
The ENABLE 2 circuit monitoring the Axis Computer has been
opened.
Consequences
The system goes to status SYS HALT.
Probable causes
There may be a connection problem between Main Computer and Axis
Computer.
Recommended actions
1) Check all connections to the axis computer.
2) Check cables conntected to the Safety System.

20313, Enable1 supervision fault
Description
The ENABLE1 circuit has been broken. This circuit monitors the
function of the Safety System and the main computer.
Consequences
The system goes to status SYS HALT.
Probable causes
A fault, probably a software fault, has been detected by any of the units
supervised by the ENABLE1 circuit.
Recommended actions
1) Attempt restarting by pressing the Motors ON button. If restarting
is IMPOSSIBLE it indicates a hardware fault in Safety System, axis
computer. If restarting is POSSIBLE, it indicates a software fault. In
such case, contact your local ABB representative.
2) Determine which unit is faulty by checking its indication LEDs. The
LEDs are described in the Trouble Shooting Manual. Replace the
faulty unit.

20314, Enable2 supervision fault
Description
The ENABLE2 circuit to drive module 1 has been broken. This circuit
monitors e.g. the function of the Safety System and the axis computer.
Consequences
The system goes to status SYS HALT.
Probable causes
A fault, probably a software fault, has been detected by any of the units
supervised by the ENABLE2 circuit.
Recommended actions
1) Attempt restarting by pressing the Motors ON button. If restarting
is IMPOSSIBLE it indicates a hardware fault in Safety System, axis
computer. If restarting is POSSIBLE, it indicates a software fault. In
such case, contact your local ABB representative.
2) Determine which unit is faulty by checking its indication LEDs. The
LEDs are described in the Trouble Shooting Manual. Replace the
faulty unit.

20315, Enable2 Supervision fault
Description
The ENABLE2 circuit to drive module 2 has been broken. This circuit
monitors e.g. the function of the Safety System and the axis computer.
Consequences
The system goes to status SYS HALT.
Probable causes
A fault, probably a software fault, has been detected by any of the units
supervised by the ENABLE2 circuit.
Recommended actions
1) Attempt restarting by pressing the Motors ON button. If restarting
is IMPOSSIBLE it indicates a hardware fault in safety board, axis
computer. If restarting is POSSIBLE, it indicates a software fault. In
such case, contact your local ABB representative.
2) Determine which unit is faulty by checking its indication LEDs. The
LEDs are described in the Trouble Shooting Manual. Replace the
faulty unit.

20316, Enable2 Supervision fault
Description
The ENABLE2 circuit to drive module 3 has been broken. This circuit
monitors e.g. the function of the Safety System and the axis computer.
Consequences
The system goes to status SYS HALT.
Probable causes
A fault, probably a software fault, has been detected by any of the units
supervised by the ENABLE2 circuit.
Recommended actions
1) Attempt restarting by pressing the Motors ON button. If restarting
is IMPOSSIBLE it indicates a hardware fault in Safety System, axis
computer. If restarting is POSSIBLE, it indicates a software fault. In
such case, contact your local ABB representative.
2) Determine which unit is faulty by checking its indication LEDs. The
LEDs are described in the Trouble Shooting Manual. Replace the
faulty unit.

20317, Enable2 Supervision fault
Description
The ENABLE2 circuit to drive module 4 has been broken. This circuit
monitors e.g. the function of the Safety System and the axis computer.
Consequences
The system goes to status SYS HALT.
Probable causes
A fault, probably a software fault, has been detected by any of the units
supervised by the ENABLE2 circuit.
Recommended actions
1) Attempt restarting by pressing the Motors ON button. If restarting
is IMPOSSIBLE it indicates a hardware fault in Safety System, Axis
computer. If restarting is POSSIBLE, it indicates a software fault. In
such case, contact your local ABB representative.
2) Determine which unit is faulty by checking its indication LEDs. The
LEDs are described in the Trouble Shooting Manual. Replace the
faulty unit.

20350, Not a valid task name
Description
The task name arg cannot be used as a name of a task. It is either
already used as an installed symbol, a reserved word in the system or
too long (max. 16 characters).
Consequences
The task will not be installed in the system.
Recommended actions
Change the configuration of the task name and restart the controller.

20351, Max number of tasks exceeded
Description
The maximum number of tasks, arg, of the configuration type arg is
exceeded.
Consequences
All configured tasks will not be installed.
Recommended actions
Change the configuration and restart the system.

20352, Not a valid motion planner name
Description
The motion planner name for mechanical unit group arg in arg is not
correct.
The reason can be one of the following:
1. empty name
2. not present in the motion configuration
3. already in use by another mechanical unit group
Consequences
The system will not be able to use.
Recommended actions
Change the configuration and restart the controller.

20353, Mechanical unit not found
Description
The mechanical unit arg in arg can not be found in the list of
configured mechanical units.
Consequences
It is not possible to execute any RAPID instructions that use the
configured mechanical units.
Probable causes
The unit is probably not present in the motion configuration.
Recommended actions
Change the configuration and restart the controller.

20354, The argument is undefined
Description
The configured argument arg for task arg is not a valid type.
Consequences
The behaviour of the task will be undefined.
Recommended actions
Change the configuration and restart the controller.

20355, Mechanical unit group name not correct
Description
The configured name of arg in task arg is not correct.
The reason could be:
1. The argument is not used in the configuration
2. The configured name is not a member of the mechanical unit group
3. The configured name is already used by another task.
Consequences
The task will not be installed or it will not be possible to execute
RAPID motion instructions.
Recommended actions
Change the configuration and restart the controller.

20356, Maximum number of motion tasks
exceeded
Description
Only arg tasks are allowed to control mechanical units i.e. execute
RAPID move instructions.
Recommended actions
Change the configuration and restart the controller.

20357, No configured motion task
Description
No task is configured to control mechanical units i.e. execute RAPID
move instructions.
Consequences
It is not possible to execute any RAPID move instructions.
Recommended actions
Change the configuration to include a task controlling mechanical
units.
Restart the controller.

20358, No members of arg configured
Description
The configuration type is required in a multi robot system.
Consequences
It is not possible to execute any RAPID move instructions.
Recommended actions
Change the configuration and restart the controller.

20359, Cfg type arg is configured
Description
The type was found but not expected in a system with current options.
Recommended actions
Check if the right configuration file is loaded or remove all instances
of the type.
Restart the controller.

20360, Unknown event in cfg type arg
Description
The event arg is not a system event.
Recommended actions
Change the configuration and restart the system.

20361, Only shared modules in the shared task
Description
The module arg is not configured shared and cannot be loaded into the
shared task.
Recommended actions
Change the configuration and restart the system.

20362, Not defined task name
Description
The task arg in cfg type arg is not configured in the system.
Recommended actions
Change the configuration and restart the system.

20363, Module not a system module
Description
The module arg loaded from the file arg is not a system module.
Recommended actions
Change the file suffix or add a module attribute to the module.
Load the module again or restart the system.

20364, Max number of mechanical unit groups
exceeded
Description
The maximum number of mechanical unit groups, arg, of the
configuration type arg is exceeded

Consequences
Exceeded instances are ignored.
Recommended actions
Change the configuration and restart the controller.

20365, Update of configuration is done
Description
All tasks are reset to its main routine due to configuration changes.
Recommended actions

20366, Type error in task configuration
Description
The task arg is configured with wrong type. Task configured to control
mechanical units i.e. execute RAPID move instructions must be of
type arg.
Consequences
The task will not be installed.
Recommended actions
Change the configuration and restart the controller.

20367, No configured mechanical units
Description
The instance arg of configuration type arg has no mechanical unit
argument.
Consequences
It will not be possible to perform any actions against the motion
system, i.e. execute RAPID move instructions.
Recommended actions
Change the configuration and restart the controller.

20368, Not connected mechanical unit group
Description
There is no RAPID motion task connected with the mechanical unit
group arg.
Consequences
It will not be possible to use the mechanical units that belong to this
group.
Probable causes
The cause of this error can be a missing RAPID task instance in the
controller domain of the configuration or a task that has not been
configured as a motion task.
Recommended actions
1. Add a motion task instance that is connected to the mechanical unit
group.
2. Change an existing non-motion task to a motion task.

3. Remove the mechanical unit group.
4. Check for misspelled names.

20369, Confusing configuration of system
parameters.
Description
There is a mixture of old and new structure of type System Misc.
Consequences
It is possible that not the correct parameters are configured.
Probable causes
Configuration of old and new structure has been loaded into the
system.
Recommended actions
1. Check that the correct parameters are configured.
2. Update the parameters in System Misc with correct values.
3. Save the controller domain and replace the old config file

20370, Failed to read configuration data for regain distance
Description
The system failed to read the configuration data for the type . The regain distance is the limit when the system will warn before a start with regain movement.
Consequences
Default value for the regain distance will be used.
Probable causes
-The sys.cfg file loaded into the system does not contain any regain distance information.
-No sys.cfg file has been loaded due to file errors.
Recommended actions
1) Load a new sys.cfg file and restart the system

20371, A default mechanical unit group is used
Description
The configuration of task arg has no connection to arg. The attribute
arg is required in a multimove system and is missing.
Consequences
The task performs no movement by the mechanical unit, but can read
motion data. The RAPID functions may fail, if they read motion data
and is connected to the wrong mechanical unit. The mechanical unit
group in arg has been connected to the task.
Probable causes
-The attribute was not specified when the configuration was created.
-The configuration file could have been created in a non-multi move
system

Recommended actions
1) Make sure the correct mechanical unit group is connected to the
task

20372, Failed to read configuration data.
Description
The system failed to read the configuration data for the type .
Consequences
Hotedit or modpos will not be possible.
Probable causes
-The sys.cfg file loaded into the system does not contain hotedit and modpos information.
-No sys.cfg file has been loaded due to file errors.
Recommended
actions Load a new sys.cfg file and restart the system

20380, No motion planner connected to
mechanical unit
Description
The mechanical unit arg has no motion planner connected.
Consequences
It is not possible to use this mechanical unit in any operations such as
calibration or activation.
Probable causes
The cause of this error is probably an error in the configuration.
Recommended actions
Check the motion and/or controller configuration

20381, Error when recreating path after power
fail
Description
The path wasn’t successfully recreated.
Consequences
The Program Pointer must be moved before restarting the program. It’s
recommended to move the robot to a safe position though the robot
might not follow the original path when restarted.
Probable causes
A number of errors may cause this. Faults causing the system to go to
status SYS FAIL will generally also cause path recreate after powerfail
to fail.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) Fix the cause of the fault.
3) Move the robot to a safe position before restarting. The robot may
not follow the original path.

20390, Start rejected
Description
Start/restart of program, via System IO, was rejected.
The reason is that write access is held by
arg using arg
Recommended actions

20391, Start at main rejected
Description
Start of program at main, via System IO, was rejected.
The reason is that write access is held by
arg using arg
Recommended actions

20392, Manual interrupt rejected
Description
Manual interrupt of program, via System IO, was rejected.
The reason is that write access is held by
arg using arg
Recommended actions

20393, Load and start rejected
Description
Load and start of program, via System IO, was rejected.
The reason is that write access is held by
arg using arg
Recommended actions

20394, Motors On and Start rejected.
Description
Motors On and Start/restart of program, via System IO, was rejected.
The reason is that write access is held by
arg using arg
Recommended actions

20395, Load rejected
Description
Load of program via System IO, was rejected.
The reason is that write access is held by
arg using arg

20396, Manual interrupt rejected
Description
Manual interrupt of program, via System IO, was rejected in task arg.
Manual interrupt is not allowed during synchronized movement.

20397, Manual interrupt rejected
Description
Manual interrupt of program, via System IO, was rejected in task arg.
The interrupt is connected to arg, which is not a valid RAPID
procedure.
Consequences
arg will not be executed.
Probable causes
1. arg does not exist.
2. arg is not a procedure (PROC) that takes zero (0) parameters.
Recommended actions
Make sure that arg is an existing procedure (PROC) that takes zero (0)
parameters.

20398, Automatic Mode Rejected
Description
A stopped static/semistatic task (alias background task) could not be
started when automatic mode was requested.
Consequences
The system can not enter automatic mode.
Probable causes
A stopped static/semistatic task could not be started.
Recommended actions
1) Switch back to manual mode.
2) Make sure that all static/semistatic tasks has a program/module
containing the configured production entry.
3) Make sure that no static/semistatic task has any syntax errors.
4) Switch back to automatic mode and confirm.

20399, Static/Semistatic task started
Description
At least on static/semistatic task (alias background task) was not
executing after startup in automatic mode.
Consequences
Execution was started in at least one static/semistatic task.
Probable causes
System was switched to automatic mode during warm start.
Recommended actions
None, system has automatically reset debug settings.
To keep debug settings in auto:
1) Switch back to auto mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to NO.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters