ABB IRC5 Operating Manual page 353

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.
50415, 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.
The system goes to Motors Off.
Probable causes
The user program may contain too much high acceleration and
deceleration of the joint. Gravity torque or external forces for
the joint can also be too high.
Recommended actions
Rewrite the user program to reduce the motor utilization.
If error occurs in spite of cold motor due to extra cooling or low
ambient temperature, the sensitivity of the thermal supervision
can be reduced. Decrease the system parameter 'Thermal
Supervision Sensitivity Ratio' in topic Motion and type Arm in
steps of 0.1.
WARNING! : With too low value the supervision is deactivated
and the motor can be overheated and destroyed!
50416, Motor temperature close to maximum
Description
The motor temperature for joint arg is close to maximum value.
Consequences
It is possible to continue but the margin to maximum allowed
temperature is too low to sustain long term operation.
Probable causes
The user program may contain too much high acceleration and
high deceleration of the joint. The gravity torque or external
forces for the joint can also be too high.
Recommended actions
Rewrite the user program to reduce the motor utilization.
50417, Drive unit overload error
Description
The drive unit for joint arg has reached a too high temperature
level. The joint is connected to drive module arg with the drive
unit at unit position arg and node arg.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Consequences
No operation will be possible until the drive has cooled down.
The system goes to Motors Off.
Probable causes
The joint may be running with a too high torque for extended
periods of time. Short circuit in the manipulator using long motor
cables.
Recommended actions
If possible, rewrite the user program to reduce the amount of
high acceleration and high deceleration. Reduce the static
torque due to gravity or external forces. Check for short circuit
in the motor cable or in the motor. Check for other hardware
event logs.
50418, Drive unit overload
Description
The drive unit for joint arg, connected to drive module arg with
the drive unit at unit position arg and node arg is approaching
a too high temperature level.
Consequences
It is possible to continue but margin to max temperature is too
low for long term operation.
Probable causes
The joint may be running with a too high torque for extended
periods of time. Short circuit in the manipulator using long motor
cables.
Recommended actions
If possible, rewrite the user program to reduce the amount of
high acceleration and high deceleration. Reduce the static
torque due to gravity or external forces. Check for short circuit
in the motor cable or in the motor. Check for other hardware
event logs.
50419, Common base_frame error
Description
Task: arg.
The Base Frame is moved by another task than the robot and
could not be solved, reason arg: SingArea\Wrist not supported
with MoveC. The Base Frame must be moved by first
synchronized motion_group. Only one common Base Frame
can be handled. Absolute Accuracy not supported with MoveC.
The common Base Frame can only be solved in synchronized
move. Program ref. arg.
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5 Troubleshooting by event log
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