ABB IRC5 Operating Manual page 329

Recommended actions
Make a new commutation. Restart the controller.
50133, No signals available
Description
No signals are available for robot arg.
Recommended actions
Verify that correct signals are defined.
50134, Correction vector failed
Description
Sensor correction vector calculations failed due to previous
error.
Recommended actions
50135, SoftAct not possible
Description
Soft servo is not possible to activate.
Recommended actions
Verify that a joint that can be used with SoftAct is chosen.
50138, Arm check point limit
Description
The robot arg has reached the limit for arm check point.
Recommended actions
Use the joystick to move the involved joint into the working
range again.
50139, Arm check point limit
Description
Jogging was made in wrong direction when arm check point
was out of working range for robot arg.
Recommended actions
Use the joystick to move the joint in opposite direction.
50140, Payload too large
Description
Heavy payload caused static torque limit to be exceeded on
joint arg.
Recommended actions
Check and reduce payload for arm and/or wrist. Reduce joint
working range to decrease static torque due to gravity.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50142, Motion configuration
Description
Configuration of the manipulator failed.
arg
arg.
Recommended actions
Check system parameters in topic Motion.
Use correct parameters and reset the system.
50143, Robot axes configuration
Description
Actual configuration is not the same as ordered and/or
movement of any robot axis is larger than 90 degrees. Robot
arg, axis arg.
Recommended actions
Use SingArea_Wrist, ConfL_Off, modify position or insert
intermediary point.
Proceeding in automatic mode will not be possible without
correcting the configuration. To be able to move to the position
anyway change to manual mode and repeat start.
50144, Displacement frame uncertain
Description
Calibration of displacement frame uncertain for robot arg, due
to one or several of: Wrong TCP. Reference points inaccurate.
Reference points badly spaced.
Recommended actions
If estimated error is unacceptable: Verify that correct TCP is
used. Try more than 3 reference points. Be careful when
positioning robot to reference points.
50145, Kinematic limitation
Description
Kinematic limitation for robot arg, no solution found. Long
segment. Position close to singularity. Joint 1, 2 or 3 out of
range. Position outside reach.
Recommended actions
Insert an intermediary point to reduce the length of the segment.
Use MoveAbsJ. Check working range.
50147, Power fail restart failed
Description
Re-creation of the path failed.
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5 Troubleshooting by event log
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