ABB IRC5 Operating Manual page 363

Recommended actions
Make sure that independent mode is not used when trying to
jog. Use IndReset to reset joint or PP to Main to reset all joints.
50480, I/O controlled axis RefSync failed
Description
Internal error during refsync or robot moving.
Consequences
I/O controlled axis feedback pos and pos ref are not
synchronized.
Recommended actions
Wait until zero speed and check internal error. Make a new
RefSync.
50481, I/O controlled axis not synchronized
Description
Refsync not finished when the I/O signal arg is changed.
Consequences
I/O controlled axis arg feedback pos and pos ref are not
synchronized.
Recommended actions
Run IoCtrlAxis_RefSyncOn before change of arg signal or check
internal error.
50482, Search speed not reached
Description
A collision search hit was detected on the servo gun before the
full search speed was reached.
Consequences
The accuracy of the results may be unreliable.
Recommended actions
Check that there is enough time to accelerate and that nothing
obstructs the servo gun.
50483, Movement in wrong direction
Description
Moving from current to target position when opening arg
gave a movement in wrong direction.
Consequences
The opening sequence will start with a closing movement.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Probable causes
The motion force control has to move the mechanical unit back
to the starting position it had when taking over from the position
control, before handing back the control to the position control.
In this case the starting position for the force movement is more
closed than current position is and that will lead to closing
movement before position control can take over.
The situation indicate that there was a collision with the plate
during the closing movement, that the plate thickness is not
correct, or that the calibration is not correct.
Recommended actions
Make sure that the proper configuration is made, for example
plate thickness. Make sure that the calibration is correct.
50484, Stop-point too far away from circle
Description
Task: arg
Program ref. arg
The detected stop-point during execution of a SearchC
instruction is too far away from the circle-arc. This can happen
if a large zone is used in the preceding movement-instruction.
Consequences
It will not be possible to run the movement backwards.
Probable causes
A too large zone was used in the movement-instruction
preceding the SearchC.
Recommended actions
Use a smaller zone in the movement-instruction preceding the
SearchC.
50486, Load supervision
Description
A mismatch between the expected and actual joints torques
for the mechanical unit arg has been detected during the last
arg minutes.
Consequences
There is a risk of overloading the mechanical structure.
Probable causes
The load on the mechanical unit is bigger than expected.
Recommended actions
Make sure all loads are defined correctly.
© Copyright 2005-2018 ABB. All rights reserved.
5 Troubleshooting by event log
Continues on next page
5.7 5 xxxx
Continued
363