Error code 20554 | S4P+ Collision sensor activided

PabloRamos

Hi everyone,

I was wondering if someone could help me with a problem. I'm working with an IRB 5400-22 robot and an S4P+ controller, and after performing a system purge, the teach pendant displays error 20554: "Collision sensor activated".

I'm currently just doing some tests and calibrations, so I don’t have a real air supply connected — just a bypass.

I already checked the documentation, but I’m still struggling with this. At first, I tried using a dummy connector, but then I noticed that the +5-X21 connector has no wiring on pin 18.

Also, I can’t find any way to deactivate or bypass the collision sensor from the teach pendant.

What can I do to disable or ignore this signal? Any help would be really appreciated — I’m new to both ABB robots and this job 😓.

Thank you in advance!