ABB IRC5 Operating Manual page 344

5 Troubleshooting by event log
5.7 5 xxxx
Continued
Recommended actions
Change the parameter 'Box' in either FCCondPos or
FCSupvPos.
50341, Error in force control cylinder definition
Description
An error in the parameter 'Cylinder' in either FCCondPos or
FCSupvPos.
Recommended actions
Change the parameter 'Cylinder' in either FCCondPos or
FCSupvPos.
50342, Error in force control sphere definition
Description
An error in the parameter 'Sphere' in either FCCondPos or
FCSupvPos.
Recommended actions
Change the parameter 'Sphere' in either FCCondPos or
FCSupvPos.
50343, Error in force control cone definition
Description
An error in the parameters for either FCCondOrient or
FCSupvOrient.
Recommended actions
Change the parameters in either FCCondOrient or
FCSupvOrient.
50344, Joints outside limits in force control
Description
One or more joints are outside their working range in force
control.
Recommended actions
Modify the program to avoid the physical joint limits.
50345, Force control supervision error
Description
The user specified supervision has trigged. The type is arg.
Types: TCP position. Tool orientation. TCP speed. Reorientation
speed. Force. Torque. Teach TCP speed. Teach Reorientation
speed.
Consequences
The robot will stop.
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344
Recommended actions
Deactivate force control.
Modify the supervision or the program.
50346, Motor temperature error
Description
Motor temperature for joint arg is too high.
Consequences
It is not possible to continue until the motor has cooled down.
50348, Log signal definition failed
Description
Definition of a signal failed for arg, axis arg on channel arg.
Probable causes
The signal number does not correspond to an actual log signal.
50349, Same synchronization ID
Description
Two consecutive synchronized move instructions in arg have
the same synchronization ID value arg.
Consequences
If the ID value is repeated for more than one move instruction
it can be very difficult to keep track of which move instructions
are synchronized. This can, for example, cause problems when
modifying positions.
Recommended actions
Change the synchronized move instruction arg in arg so that it
has a unique synchronization ID value.
50350, Software Equalizing Not Allowed
Description
It is not possible to run Software Equalizing since Independent
Move is active.
Recommended actions
Make sure independent move is not active when executing a
Software Equalizing servo spot.
50351, Independent Move not allowed
Description
It is not possible to execute an Independent Move when
Software Equalizing is active.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA