ABB YuMi - Error 34316 & 34318

    Hi all,

    Looking for some advice on an issue we're having with one of our ABB YuMi (IRB 14000) robots.

    The events leading up to this issue are unknown unfortunately but the result is the following errors:

    • Event Message 34316 - Motor Current Error
      • Joint rob_R_4
    • Event Message 34318 - Driver Inverter Saturated Error
      • Joint rob_R_4

    As a result the motors are stuck in the "Off" state. The right arm can be moved by pressing the release button on the under-body.

    I have visually inspected the arm and removed covers around Joint 4 but nothing stands out to me.

    Can anyone shed some light on:

    1. Root cause - e.g. roughly man-handled by some idiot damaging the joint brakes/robot collisions
    2. Fix/direction on next steps - we have contacted ABB but no response yet.
    • Best Answer

    This means the drive is not able control the motor on axis 4 before the PWM exceeds the calculated duty cycle. This is either a motor, wire, or the drive its self. You could also check to see if the axis seam stiff but that is usually a motion error.

    Matt

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