ABB IRC5 Operating Manual page 328

5 Troubleshooting by event log
5.7 5 xxxx
Continued
50085, Too many user frames
Description
For mechanical unit arg more than one user frame has been
defined.
Recommended actions
Take away one user frame or define one more mechanical unit.
50086, Singularity problem
Description
Too close to wrist singularity with respect to numerical
resolution for joint 4 of arg.
Recommended actions
Change destination position a few increments.
50087, Singularity problem
Description
Too close to wrist singularity with respect to numerical
resolution for joint 6 of arg.
Recommended actions
Change destination position a few increments.
50088, Restart not possible
Description
It is not possible to restart the path due to a previous error.
Recommended actions
Move the program pointer to clear the path and start a new
movement.
50089, Weaving changed
Description
Task: arg.
The ordered weaving is not achieved due to: High weaving
frequency. Not allowed shift of weave method or that
SingArea/Wrist is used with wrist weave. Program ref. arg.
Recommended actions
Increase weave length or period time.
Don't shift between arm and wrist weave.
Use SingArea/Off with wrist weave.
50091, Restart not possible
Description
Restart no longer possible. Change of mechanical unit state
made restart of program impossible.
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Recommended actions
Move the program pointer and start a new movement.
50092, Axis computer response
Description
Incorrect response from the axis computer.
Recommended actions
Check Motion system parameters.
Check the axis computer hardware.
50094, TuneServo not possible
Description
Tuning is not implemented for the specified joint.
Recommended actions
Verify that a parameter and/or joint that can be used with
TuneServo is chosen.
50096, TuneServo not allowed
Description
Tuning is not allowed for the specified joint.
Recommended actions
Verify that a parameter and/or joint that can be used with
TuneServo is chosen.
50124, Zone converted to fine point
Description
Task: arg.
Corner path executed as stop point because the calculated time
margin for next segment is 0.
This can be caused by: 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.
50132, Commutation failed
Description
Commutation failed for joint arg.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA