ABB IRC5 Operating Manual page 311

Consequences
The position cannot be read by the instruction arg. The program
execution is stopped immediately.
Probable causes
A TRAP executes a arg instruction just before the signal
change.A TRAP executes a arg instruction, and when the
instruction arg is ready (no signal detection occurred), arg
detects that the search object has been removed.
Recommended actions
Use error handling with long jump in the TRAP to brake off the
arg instruction, or rewrite the RAPID program. See
documentation of instruction arg how to implement error
handling with long jump.
41795, Wrong payload mode
Description
Task: arg.
Wrong payload mode.
Program ref: arg.
Consequences
The program execution is stopped immediately.
Probable causes
If using \TLoad optional argument in a movement instruction,
the configuration parameter ModalPayloadMode should be set
to NO. If using GripLoad instruction, the configuration parameter
ModalPayloadMode should be set to YES. If using LoadId
instruction and the configuration parameter ModalPayloadMode
is set to NO, PayLoad identification is not possible.
Recommended actions
Check the value of the configuration parameter
ModalPayLoadMode for domain SYS, type SYS_MISC.
41796, Argument Error
Description
Task: arg.
The mass is negative in used loaddata.
Program ref: arg.
Recommended actions
Define the correct load of the load before use of it for jogging
or program movement. Load identification of the load can be
done with the service routine LoadIdentify.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
41797, Signal not accessible
Description
Task: arg.
The I/O signal arg is not accessible.
Program ref: arg.
Probable causes
The reason for this error is one of the following: The real input
or output, on the I/O device, represented by the I/O signal is
not valid. The I/O device is not running. Error in the
configuration of the I/O signal.
Recommended actions
Recovery: arg.
41798, No TCP robot found
Description
Task: arg.
This task does not control a mechanical unit that is a TCP robot.
Program ref: arg.
Consequences
The program execution is stopped immediately.
Probable causes
No TCP robot found for this task.
Recommended actions
Check the RAPID program. Instruction arg can only be used in
a RAPID task that controls a TCP robot.
41799, Speed value too low
Description
Task: arg.
The speed value (arg) used in argument arg is too low.
Program ref: arg.
Consequences
It is not possible to use current speed value.
Probable causes
A value that is below the minimum value for speed has been
used.
Recommended actions
Increase the speed value in argument arg.
Recovery: arg.
41800, Manual action needed
Description
Task: arg.
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