ABB robots with conveyor tracking. E-stop

fertil

I have been testing some ABB robots with conveyor tracking.
We
did a lot of testing with Emergency Stops.
One day we discovered an unusual
problem in following situation:
Production was running, emergency stop (ES)
executed, ES was reset, ?_oMotors on and PP-start?__ was set by the PLC, program
execution started AND program execution stopped by an internal error. The system
output ?_oError?__ was not raised so no error information was sent to the
PLC.
The internal error is logged at 11:56:14 with this text: ?_opath.c 9676
Break_segment on wrong segment?__.
Question 1: Do you
have any explanation for the two faults (the internal error + no raised
signal)?
After more testing we had some faults when pushing ES, just when the
robots were about to leave coordinated movements with the conveyor, program line
number: 358.
The Elog_all081104_1.txt is from such a situation. At 15:38:35
?_oJog or Speed error?__ occurs. ( the conveyor has only moved about maximum 30 mm
since ES and is not outside reach). Several error numbers occurred
Question
2: Do you have any explanation for these errors?
Question 3: Which parameter
settings can you recommend for eliminating these errors?

Question 4: Do you think the 3 following values can have any influence on the fault?
Are they set up correctly?

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Value changed in Motion Planner

Name	Old value	New value
Path Resolution	1	2
Process update time	0.048384	0.09677
CPU Load equalization	3	1

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Robot ware 5.11.1033.01
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