ABB IRC5 Operating Manual page 174

5 Troubleshooting by event log
5.5 3 xxxx
Continued
34321, Drive unit configuration error
Description
In drive module arg the drive unit at position arg has a
configuration error due to a mismatch between the drive unit
and measurement system. The drive unit can only support arg
joints having same measurement excitation. The error occurred
when adding joint arg to the system.
Consequences
No operation will be possible until the fault is corrected. The
system goes to system failure state.
Probable causes
Too many joints are using same measurement excitation and
all are using same drive unit.
Recommended actions
Move the joint arg or another joint with same node excitation
to the other excitation (EXC1 - EXC2), by reroute the joint
measurement node connection both in hardware and in
configuration. Restart the controller.
34322, Drive unit configuration error
Description
In drive module arg the drive unit at position arg is using wrong
rectifier.
Consequences
No operation will be possible until the fault is corrected. The
system goes to system failure state.
Probable causes
A drive unit must always configure a rectifier with lower or same
unit position as the inverter. There must not be any other
rectifier with unit position between the configured rectifier and
drive unit.
Recommended actions
Check that configuration file for additional axis is of type drive
system 09. Change used rectifier (dc_link) in the additional axis
configuration. Remove unused rectifier mounted between
configured rectifier and drive unit.
34400, DC link voltage too high
Description
In drive module arg, the drive unit at unit position arg has a DC
link voltage that is too high.
Consequences
No operation will be possible until the fault is corrected. The
system goes to Motors Off state.
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174
WARNING HIGH VOLTAGE: THE DC LINK MAY BE
DISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)
WHEN THE SYSTEM IS POWERED OFF.
Probable causes
The bleeder resistor is not connected or faulty. The user
program may contain too much deceleration of the manipulator's
axes. This fault is more likely if the system contains additional
axes.
Recommended actions
WARNING HIGH VOLTAGE CAN BE PRESENT. Make sure the
bleeder resistor cable is properly connected to the rectifier unit.
Disconnect the bleeder and check the cable and measure the
bleeder resistance. The expected resistance should be
approximately arg ohms. Rewrite the user program to reduce
the amount of hard decelerations.
34401, DC link voltage too low warning
Description
In drive module arg, the drive unit at unit position arg has a DC
link voltage that is close to minimum limit.
Consequences
Operation will be possible but the system is close to a stopping
error.
Probable causes
The incoming mains voltage to the rectifier unit is out of
specification.
Recommended actions
Check for other hardware event log messages regarding mains
voltage problem. Check incoming mains voltage. Change the
mains tolerance min so that the mains voltage is inside the
specified interval. Check that the correct voltage is selected
with jumpers on the transformer (optional). Check all internal
3-phase components (main switch, mains filter, fuse, contactors)
and cabling in the drive module.
34402, DC link voltage too low
Description
In drive module arg, the DC link voltage is too low for the drive
unit at unit position arg.
Consequences
No operation will be possible until the fault is corrected. The
system goes to Motors Off state.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA