Xxxx - ABB IRC5 Operating Manual

5.7 5 xxxx

50021, Joint position error
Description
Actual position of joint arg is too far away from the ordered
position.
Recommended actions
Check tuning parameters, external forces or hardware.
50024, Corner path failure
Description
Task: arg.
Corner path executed as stop point due to some of the following
reasons: Time delay. Closely programmed points. System
requires high CPU load. Program ref. arg.
Recommended actions
Reduce the number of instructions between consecutive move
instructions. Reduce speed, use wider spaced points, use
/CONC option. Increase system parameter 'Prefetch Time' in
topic Motion and type Motion Planner. If the stop comes at the
first movement after a finepoint, increase the system parameter
'Interpolation Buffer Startup Adjust' in topic Motion and type
Motion Planner. The warning can be suppressed using the
RAPID instruction CornerPathWarning.
50025, Restart interrupted
Description
Current position is too far from path.
Recommended actions
Make a new restart with regain.
50026, Close to singularity
Description
Task: arg.
Robot too close to singularity.
Program ref. arg.
(Internal status: arg).
Recommended actions
Modify the robot path away from the singularity or change the
jogging mode for the robot to joint/axis jogging.
In the case when the robot position is dependent on an
additional axis being jogged then that dependency may also
need to be relaxed, that is by changing the jogging coordinate
system for the robot from world to base.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50027, Joint Out of Range
Description
Position for arg joint arg is out of working range.
Recommended actions
Use the joystick to move the joint into its working range.
50028, Jog in wrong direction
Description
Position for arg joint arg is out of working range.
Recommended actions
Use the joystick to move the joint in opposite direction.
50031, Command not allowed
Description
System parameters cannot be changed in Motors On state.
Recommended actions
Change to Motors Off.
50032, Command not allowed
Description
An attempt was made to calibrate while in Motors On.
Recommended actions
Change to Motors Off.
50033, Command not allowed
Description
An attempt was made to commutate the motors in Motors On.
Recommended actions
Change to Motors Off.
50035, Command not allowed
Description
An attempt was made to synchronize in Motors On.
Recommended actions
Change to Motors Off.
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5 Troubleshooting by event log
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