IRC5 ABB 6700 Error 90312?

CristTunes

Hello fellow ABB users, 

My team and I are trying to diagnose error code 90312 on an IRC5. The controller used to be apart of a multi-move system with 2 robots and and a 7th axis track. Now it is being used as a single robot on the track. We get this error (90312) when we hit the Deadman enable in manual. We jumper-ed out the safety cards X1, X2, X5, and X6 so safety signals should be good. 

Aside from the error message that tells us to check all connections to axis computer and cables connected to the safety system. Is there anything else that comes to mind that we should check? 

Motors on contactors never even engage on when we hit Deadman. When i manually depress the contactors they allow power through. But there is still circuitry preventing the motors on signal so we are unable to get the motors on state. The controller is not in system failure and currently resides in guard stop. 

Could something have faulted inside the panel board? Is there a configuration were missing?  Wiring error? 

Any input would be appreciated thank you! 

CristTunes

My team and I figured it out.

Turns out that because the IRC5 at one point had an additional slave cabinet attached (because it was used as a two robot system and now we're only using one) the motors on run chain was wired from the slave cabinet to the main IRC5 panel board for motors on run chain redundancy. We removed the cable from the panel board inside the IRC5 that was used for the slave cabinet that we are no longer using and put the proper jumper in on the panel board instead of that slave connector and that did the trick. 

Also, if you go to inputs and outputs on the pendant you can view safety signals and we were getting all signals except ENABLE2_2 so that is how we knew what signal we were missing. 

lemster68

Please add the text which accompanies the error number.  I don't yet have them all memorized.

CristTunes

Event Message 90312
Enable 2 Open 
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

Actions
1. Check all connections to the axis computer
2. Check cables connected to the safety system

lemster68

I am going to guess that you are trying to use it without any software modifications (previous configuration).  I think that it should have had a second axis computer for the other robot.  If I am right, what you will need to do is rebuild the robot system configuration for only one robot and track.  What robotware revision is installed in the controller?  If you have not made a backup yet, please do one before proceeding.  Do you have the keystring documents that came with the robot originally?

CristTunes

Lee, 

When we first powered on the IRC5 it was in SYS FAIL so we used ABBS installation manager to update the software and remove R2. Since now it is just R1 and the track. That got us out of SYS FAIL and thus we were able to start troubleshooting motors on. Once we solved the motors on issue we were able to jog and calibrate the 6 axis robot and track just fine. 

Anyways, thanks for the input. 

lemster68

I see you posted about the same time I was replying.  Good job.