ABB IRC5 Operating Manual page 268

5 Troubleshooting by event log
5.6 4 xxxx
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41439, Undefined Load
Description
Task: arg.
WARNING! Argument arg has undefined load center of gravity.
Program ref: arg.
Consequences
IMPORTANT TO DEFINE CORRECT LOAD to avoid mechanical
damage of the robot.
Recommended actions
Define the actual center of gravity for the tool load or the grip
load before program movement or jogging (cog.x, cog.y and
cog.z cannot be 0 mm at the same time). Load identification
can be done with the service routine LoadIdentify.
41440, Argument Is Missing
Description
Task: arg.
One of the switch parameter arg or arg has to be defined.
Program ref: arg.
Consequences
The called RAPID routine could not be executed.
Recommended actions
An argument of the data type switch must be specified.
41441, UnLoad Error
Description
Task: arg.
Module loaded with path arg is active and therefore cannot be
erased.
Program ref: arg.
Probable causes
Instruction UnLoad or WaitLoad is executed in the same module
as the module that should be removed. Instruction UnLoad or
WaitLoad is in a trap that is executed earlier than expected. If
there is a CONNECT to a trap routine in the module, an IDelete
on the trap has to be done before the module can be unloaded.
Recommended actions
Check that the module does not contain routines or data that
are still active, for example CONNECT.
Recovery: arg.
41442, Reference Error
Description
Task: arg.
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The reference in argument arg is not an entire persistent
variable.
Program ref: arg.
Recommended actions
It is not possible to use record component or array element in
arg. arg. It is only possible to use entire persistent variables for
Tool, WObj or Load in any motion instruction.
41443, Argument Error
Description
Task: arg.
Argument Tool has negative load of the tool.
Program ref: arg.
Recommended actions
Define the correct load of the tool before use of the tool for
jogging or program movement. Load identification of the tool
can be done with the service routine LoadIdentify.
41444, Argument Error
Description
Task: arg.
Argument Tool has at least one inertia data component with
negative value.
Program ref: arg.
Recommended actions
Define all inertia data components (ix, iy or iz) to actual positive
values.
41445, Argument Error
Description
Task: arg.
No \WObj specified for movement with stationary TCP.
Program ref: arg.
Recommended actions
Add argument \WObj for actual work object. If not movement
with stationary TCP, change the component "robhold" in
argument Tool to TRUE (robot holds the tool).
41446, Argument Error
Description
Task: arg.
It is undefined if the robot holds the tool or the work object.
Program ref: arg.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA