ABB 140 physical robot freeze! Please help.

Robot Controller
1

I have a couple of physical 140 robots (one at a customer unfortunately) that has a wierd behaviour.

The following instruction causes the IRC5 controller to hang from time to time.
It is a part of a safe “go home” routine so it is executed quite often.

MoveAbsJ jointtargetHome,speedFree,fine,tool0WObj:=wobj0;!M0;

Sometimes this makes the robot “freeze” - it just stands there doing nothing until the motors come off automatically. I have to switch to manual, move a bit and then things are fine.

What might the cause be (it never happens in a virtual controller) and how do I fix it.

Both robots are running 5.14.03, and everything else seems fine.

2

Note, that the freeze only happens when the physical motion is next to nothing - basically executing the instruction twice. Jogging at bit out of the position makes the robot behave nicely again.