ABB IRC5 Operating Manual page 356

5 Troubleshooting by event log
5.7 5 xxxx
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50434, Position changed to inside working area
Description
The joint arg is outside its normal working area when an
Independent Reset instruction is executed with argument Old.
Consequences
The position is moved to inside the normal working area.
Probable causes
The joint has been moved too far away in independent mode
before IndReset Old.
The configured normal working area is too small.
Recommended actions
To avoid this event message - move the joint back to inside its
normal working area before the instruction IndReset Old
executed or PP to Main is done.
Increase the normal working area.
50435, Inconsistent system parameter
Description
The joint arg has an inconsistent value in the system parameter
'arg' in instance arg.
Consequences
System cannot start up.
Probable causes
Two or more joints has different values on same system
parameter.
Recommended actions
Set the same value/name on the parameter for all joints that
are pointing to the same instance or hardware.
50436, Robot configuration error
Description
It is not possible to reach the programmed position with given
robot configuration.
Task: arg.
Program ref. arg.
Probable causes
The programmed position is such that the robot cannot reach
the given robot configuration or must pass through a singular
point to reach the position.
Recommended actions
Step through the program in manual mode and modify the faulty
points. Note that it is possible to continue in manual mode as
only first try is stopped. The movement can also be changed
by use of SingArea\Wrist, ConfL\Off or be replaced by MoveJ.
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50437, Follower axis is connected to wrong
Motion Planner
Description
The follower axis arg is connected to a motion planner with a
lower number than its corresponding master axis arg.
Consequences
The performance of the Electronically Linked Motors will be
decreased compared to the normal setup.
Recommended actions
Change the Motion configuration in such a way that the follower
axis arg is in the same motion planner or in a motion planner
with a higher number than the master axis arg.
50438, Motor off sequence has timed out
Description
The mechanical unit arg has not been able to finish the motor
off sequence during configured time.
Consequences
The brake sequence can be ended before the axes standing
still.
Recommended actions
If the time to brake axis is longer than the default value of 5
seconds, increase the value by setting the system parameter
'Max Brake Time' in topic Motion and type Brake to a higher
value. Restart the controller. Try again.
50439, Soft servo activation failure
Description
The joint arg has not been able to set to soft servo mode. The
reason for this is that the axis has reached its maximum torque
level a short time before or during activation.
Consequences
The system makes an emergency stop and the soft activation
command is canceled.
Recommended actions
Find the reason for the high torque. Check if any collision has
occurred. Check load data. Reduce acceleration or speed to
reduce speed. Check hardware. Move the program pointer and
restart.
50440, Correction generator lost
Description
Correction generator has been removed.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA