Electrical
Troubleshooting Guide
IRB6400 M94A
Appendix A - 10
Error Messages
20020: Run chain status timeout.....................Chapter 5
Two channel status timeout. The acknowledgement for a two channel run chain status
change was not received within the expected time.
20021: Key speed status fault.......................Chapter 5
The operating mode selector signals and the speed signal are in conflict.
20022: Key status fault.............................Chapter 5
The operating mode selector signals are in conflict (i.e. several modes or no mode
indicated).
20024: Enable chain status timeout
Two channel status timeout.
The acknowledgement for a two channel enable chain status change was not received
within the expected time.
20025: Stop order timeout
The stop order was carried out as a force guard stop when no acknowledgement was
received within the expected time.
20030: Axis not commutated.........................Chapter 10
One or several internal drive unit axes are not commutated.
20031: Axis not calibrated.........................Chapter 10
One or several absolute/relative measurement axes are not calibrated.
20032: Rev counter not updated.....................Chapter 10
One or several absolute measurement axes are not synchronized.
20033: Axis not synchronized.......................Chapter 10
One or several relative measurement axes are not synchronized.
20040: Hold stop
20041: Motor 1-6 overload...........................Chapter 9
20042: Motor 7-x overload...........................Chapter 9
System Error Messages (Cont)
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