ABB IRC5 Operating Manual page 352

5 Troubleshooting by event log
5.7 5 xxxx
Continued
Program ref. arg.
The programmed wrist interpolation is not kinematically possible
using arg.
Consequences
The task execution will stop.
Recommended actions
Choose another robot configuration or another wrist axis
combination. Possible wrist axis combinations are: Wrist45,
Wrist46, and Wrist56.
50410, Collinear targets in wrong order
Description
Task: arg.
Program ref. arg.
The programmed targets are collinear, but the end point is
between the start point and the circle point.
Consequences
The task execution will stop.
Recommended actions
If a straight line is intended, then let the circle point and the end
point swap places with each other.
50411, Maximum allowed programmed TCP load
exceeded
Description
The currently defined TCP load for robot arg exceeds the
maximum allowed load for the robot variant.
Consequences
The robot will stop.
Probable causes
The combination of the current tool load arg,
payload arg and the additional arm loads
arg, arg
exceeds the maximum load allowed for the robot variant.
Recommended actions
Make sure that the total TCP load is inside the load diagram for
the robot.
50412, Error in speed change tuning instruction
Description
The speed change tuning instruction resulted in an error.
Consequences
The robot will stop.
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352
Probable causes
The speed change tuning instruction was not allowed, or the
parameters given were invalid.
Recommended actions
Check the values for the parameter and tuning type, and make
sure the correct force control option is installed and configured
correctly.
50413, Bleeder resistor overload error
Description
In drive module arg, the bleeder resistor connected to the
rectifier unit at drive unit position arg was overloaded.
Consequences
No operation will be possible until the bleeder resistor has
cooled down. The system goes to Motors Off.
Probable causes
The user program may contain too much deceleration of the
manipulator's axes. This fault is more likely if the system
contains additional axes. The bleeder resistor has wrong
resistance. Short circuit in motor cable between phase to phase
or phase to ground.
Recommended actions
Rewrite the user program to reduce the amount of high
decelerations. Disconnect the bleeder and check the cable and
measure the bleeder resistance. The expected resistance should
be approximately arg ohms. Verify that the motor cables has
no short circuits internally or to ground.
50414, Bleeder resistor overload
Description
In drive module arg, the bleeder resistor connected to the
rectifier unit at drive unit position arg is close to overload.
Consequences
Operation will be possible but system is close to a stopping
error.
Probable causes
The user program may contain too much deceleration of the
manipulator's axes. This fault is more likely if the system
contains additional axes. The bleeder resistor has wrong
resistance. Short circuit in motor cable between phase to phase
or phase to ground.
Recommended actions
Rewrite the user program to reduce the amount of high
decelerations. Disconnect the bleeder and check the cable and
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA