ABB IRC5 Operating Manual page 357

Probable causes
Instruction CorrDiscon or CorrClear during robot movement.
Recommended actions
Wait until robot reach finepoint or start movement without \Corr.
50441, Low voltage on battery inputs
Description
The serial measurement board on drive module arg, link arg
and board number arg indicates low voltage. If main power is
switched off the revolution counters will be lost.
Battery voltage: arg V.
External voltage: arg V.
Probable causes
The battery is not connected or discharged. If external power
supply is used, too low voltage is present.
Recommended actions
Replace battery. If external power supply is used - check cables
and the power source.
50442, Robot axis configuration error
Description
It is not possible to reach the programmed position with given
robot configuration.
Task: arg.
Program ref. arg.
Robot: arg.
Axis: arg.
Probable causes
The programmed position is such that at least one robot axis
cannot move from the current position to 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.
50443, Lack of Internal Event Objects
Description
Too few internal event objects were allocated to execute the
instruction.
Consequences
The movement of all mechanical units was halted immediately.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Probable causes
Not enough event objects were allocated.
Recommended actions
Allocate more event objects by increasing the system
parameters 'Number of Internal Event Objects' in topic Motion
and type Motion Planner and restart the controller.
50444, Manipulator supervision
Description
Loose arm detection triggered for axis arg on mechanical unit
arg.
Consequences
The movement of mechanical unit arg is halted immediately. It
then returns to a position on the path on which it was running.
There, it will remain in Motors On, awaiting a start request.
Probable causes
Triggering of the manipulator supervision may be caused by a
detection of loose arm, collision, incorrect load definition or
forces in external process.
Recommended actions
If any of the parallel arms has come loose reattach them if
possible, then acknowledge the fault, and resume operation by
pressing the Start button on the FlexPendant. If possible,
acknowledge the fault, and resume operation by pressing the
Start button on the FlexPendant. Make sure any loads are
defined and identified correctly. If the mechanical unit is
exposed to forces from the external processes, use RAPID
command or system parameters to raise the supervision level.
50445, Sync on/off not allowed while External
Motion Interface is active
Description
Switching synchronized motion on or off while External Motion
Interface is activated is not allowed.
Consequences
The program execution is stopped, and the system goes to
Motors Off state.
Probable causes
SyncMoveOn or SyncMoveOff was executed while External
Motion Interface was active.
Recommended actions
SyncMoveOn and SyncMoveOff are not allowed to be executed
while External Motion Interface is active. Check the application
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5 Troubleshooting by event log
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