ABB IRC5 Operating Manual page 327

50058, Tool coordinate system error
Description
The z-direction of the tool coordinate system is almost parallel
with the path direction.
Recommended actions
Change the tool coordinate system to achieve at least 3 degrees
deviation between z-direction and path direction.
50063, Circle uncertain
Description
Task: arg.
The points are misplaced, reason arg: End point too close to
start point. Circle point too close to start point. Circle point too
close to end point. Uncertain reorientation. Circle too large >
240 degrees. Program ref. arg.
Recommended actions
Check the points of the circle and the end point of the move
instruction before. The points of the circle can be verified by
stepping trough the circle in manual mode.
50065, Kinematics error
Description
The destination of the movement is outside the reach of the
robot or too close to a singularity. Robot arg.
Recommended actions
Change the destination position.
50066, Robot not active
Description
Attempt to coordinate motion or calculate position of deactivated
robot arg.
Recommended actions
Activate robot from the Jogging window, or program. Check
work object and program.
50067, Unit not active
Description
Attempt to coordinate motion or calculate position of deactivated
single unit arg.
Recommended actions
Activate robot from the Jogging window, or program. Check
work object and program.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50076, Orientation not correct
Description
Orientation is incorrectly defined.
Recommended actions
Make an accurate normalization of the quaternion elements.
50078, Too many close positions
Description
Too many consecutive closely spaced positions.
Recommended actions
Increase the distance between consecutive close positions.
50079, Cannot use wrist weaving
Description
Wrist weaving not possible.
Recommended actions
Use smaller weaving amplitude or a larger TCP.
50080, Position not compatible
Description
The desired position cannot be reached with the given robot
configuration. Robot arg.
Recommended actions
Modify the robot position in the program.
50082, Path calculation time exceeded
Description
The path calculation time for mechanical units running in motion
planner arg exceeds internal limit. The motion task did not
execute within its time limit.
Probable causes
The CPU load is too high. Could for example be generated by
too frequent I/O communication.
Recommended actions
Set system parameter 'High Interpolation Priority' for the
affected motion planner. Try to reduce the CPU load by one or
more of the following actions: Reduce speed. Change AccSet.
Avoid singularity (SingArea\Wrist). If the error comes directly
after start from finepoint, increase the system parameter
'Interpolation Buffer Startup Adjust' in topic Motion and type
Motion Planner.
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5 Troubleshooting by event log
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