ABB IRC5 Operating Manual page 330

5 Troubleshooting by event log
5.7 5 xxxx
Continued
Recommended actions
Move the program pointer and start a new movement.
50153, Command not allowed
Description
Task: arg.
The given instruction, or command, was not allowed since the
robot program was executing in a hold state.
(Internal status: arg arg).
Program ref. arg.
Recommended actions
Modify program or stop program execution before issuing
command.
50156, Not an Independent Joint
Description
Joint arg is not configured as an Independent Joint.
Recommended actions
Modify the program or configure the joint as an Independent
Joint in topic Motion and type Arm.
50157, Correction vector X failed
Description
Sensor correction vector X calculations failed due to previous
error.
Recommended actions
50158, Sensor process missing
Description
Sensor process missing during initialization. Named sensor
process arg could not be found or initialized.
Recommended actions
Check process name in topic Motion and type Process.
50159, No external process
Description
Attempt to coordinate motion or calculate position of single arg
without an external process.
Recommended actions
Check process name in topic Motion and type Process
configuration files.
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330
50160, Cannot reach position
Description
Programmed position of independent joint arg is outside
working range and thus cannot be reached.
Recommended actions
Change the position. Check the joint working area limits. Check
the used work object.
50163, Position adjustment
Description
External position adjustment too large. TCP speed, orientation
speed, or external position speed exceed allowed robot
performance.
Recommended actions
Reduce programmed TCP- and orientation speeds. Modify the
path. WaitWObj closer to sync. Run in automatic mode.
50164, Deactivation not possible
Description
Deactivation of mechanical unit may not be done while in
independent mode.
Recommended actions
Make sure that independent mode is not used and try to
deactivate again.
50167, New sync
Description
New object sync signal has arrived while conveyor is active
and program is running.
Recommended actions
50168, New sync on arg
Description
New object sync arrived while conveyor was tracking the
previous object. Cannot track two objects simultaneously.
Recommended actions
Reduce speed of conveyor. Increase programmed speed.
50172, MoveJ not allowed
Description
MoveJ not allowed with work object coordinated with external
position mechanical unit.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA