ABB IRC5 Operating Manual page 321

The BrakeCheck routine cannot be executed from several tasks
or execution levels at the same time.
Currently task arg is executing BrakeCheck on execution level
arg (LEVEL_NORMAL=0, LEVEL_SERVICE=2).
Program ref: arg.
Consequences
The program execution is stopped immediately.
Probable causes
More than one call to procedure BrakeCheck.
Recommended actions
Check that only one task is executing BrakeCheck routine if
using a multimove system. If calling BrakeCheck from a service
routine, check that the execution of BrakeCheck on normal level
has been ended. To cancel an active BrakeCheck, move
program pointer to cursor or move program pointer to main.
41888, Not allowed command
Description
Task: arg
The instruction/function arg cannot be used when you have an
ongoing brake check.
Program ref: arg
Consequences
The program execution is stopped immediately. Move PP to
main.
Probable causes
A brake check is currently running, and then it is not allowed
to use arg.
Recommended actions
End execution of CyclicBrakeCheck or BrakeCheck routine
before using arg.
41889, Value error
Description
Task: arg
The value read is an integer and above the maximum integer
value for num, 8388608. Value read: arg.
Program ref: arg
Consequences
The program execution is stopped immediately.
Probable causes
A num variable is used to store the read integer value, and that
value is above the maximum integer value for a num.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Recommended actions
Change datatype used in arg to a dnum variable.
41890, Parameter error
Description
Task: arg
The value used in argument NumPoints (arg) is larger than the
array size of argument Points (arg).
Program ref: arg
Consequences
The program execution is stopped immediately.
Recommended actions
Correct the RAPID program.
41891, Too few points
Description
Task: arg
Need at least two points to identify line.
Used points: arg
Program ref: arg
Consequences
The program execution is stopped immediately.
Recommended actions
Correct the RAPID program.
41892, Too few points
Description
Task:arg
Need at least three points to identify plane.
Used points: arg
Program ref: arg
Consequences
The program execution is stopped immediately.
Recommended actions
Correct the RAPID program.
41893, Too few points
Description
Task:arg
Need at least three points to identify circle.
Used points: arg
Program ref: arg
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