ABB IRC5 Operating Manual page 292

5 Troubleshooting by event log
5.6 4 xxxx
Continued
Recommended actions
Consult the manual and correct the arguments.
41650, Task already stopped by another task
Description
The non-Motion task arg has executed a StopMove instruction.
No stop action has, however, been taken because the Motion
task arg was already stopped by task arg.
Program ref: arg.
Consequences
The Motion task must be started, with the instruction StartMove,
from the task that stopped it or the switch \AllMotionTasks has
to be used in StartMove from this task.
41651, Ignored StartMove actions for task
Description
The non-Motion task arg has executed a StartMove instruction.
The Motion task arg has, however, not been started.
Program ref: arg.
Consequences
No movements can be performed if the Motion task has been
stopped by another non-Motion task.
Probable causes
The Motion task has not been stopped. The Motion task was
stopped by another non-Motion task arg. This time the cause
was arg.
Recommended actions
Use the switch \AllMotionTasks in StartMove if this instruction
should start a movement that is stopped by another non-Motion
task.
41652, Forced StartMove action
Description
The non-Motion task arg has executed a StartMove instruction.
The instruction discovered that the Motion task arg has been
stopped by this task. That Motion task will be started to prevent
inexplicable stopped movements.
Program ref: arg.
Probable causes
The Motion task has been stopped with the switch
\AllMotionTasks active in the StopMove instruction but not in
the StartMove instruction. The StopMove instruction has been
executed in synchronized mode and the StartMove in
independent mode.
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41653, Argument error CalcJointT
Description
Task: arg.
It is not possible to execute the function CalcJointT with
argument \UseCurWObjPos, if the coordinated workobject
moved by some mechanical unit is located in the same task as
the TCP robot or if the workobject is not moved by any
mechanical unit at all.
Program ref: arg.
Recommended actions
Remove the argument \UseCurWObjPos, so can the function
CalcJointT be executed and the calculation can be done with
data solely from the RAPID program.
41654, Execution error CalcJointT
Description
Task: arg.
It was not possible to execute the function CalcJointT with
argument \UseCurWObjPos, because the mechanical unit arg
was moving at the time of execution of CalcJointT.
Program ref: arg.
Recommended actions
Function CalcJointT with argument \UseCurWObjPos can only
be executed without error, if the coordinated workobject moved
by another task is standing still.
Recovery: arg.
41655, Argument not a Motion task
Description
Task: arg.
The function/instruction arg has been used with an argument
that refer to a task, arg. That task is not a Motion task
(controlling mechanical units) and can therefore not be used.
Program ref: arg.
Probable causes
arg with argument \TaskRef or \TaskName can only be used
without errors if the task that the arguments refer to is a Motion
task.
Recommended actions
Change the argument \TaskRef or \TaskName or remove it and
restart the program execution.
Recovery: arg.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA