Search Error

mmusac

Hi
Im have been assigned to a maintenance program for an ABB IRB6640 with IRC5 controller. The first thing i want to solve is this alarm i get:

An alarm was generated by robot controller.

 Event: 40661 - Search Error

If no repositioning is done, before restart of circular search, movement that can cause damage might occur.
Recovery: ERR_SIGSUPSEARCH

I looked up for this error but since im not yet familiar with the programation, ill be thankful if someone cuold clue me in about this.

Thank you




40661, Search Error
Description
Task: arg
The signal arg for the SearchX instruction is already high at the start of searching or the I/O-unit for the signal isnt up and running for the occasion.
Before performing next search, make sure that TCP is moved back to the start position of the search path.
Program Ref. arg
Recommended actions
Recovery: arg

kioog

Hello,

the error is that you use a searchfunction on the robot until  an input get high.  The error is that the input is already high at the beginning of the search so the robot cannot start his search movement.
you have to look at the searchsignal at the beginning of the search and investigate why it is high already, maybe your sensor is wrong adjusted.