ABB IRC5 Operating Manual page 332

5 Troubleshooting by event log
5.7 5 xxxx
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50193, Joint not synchronized
Description
The speed of joint arg before power down/failure was too high.
Recommended actions
Make a new update of the revolution counter.
50194, Internal position error
Description
Error caused by internal numerical limitation. Joint number arg.
Calculated reference position = arg.
Recommended actions
Adjust the system parameters in topic Motion and type
Uncalibrated Control Master 0. If TuneServo is used, adjust
parameter 'TUNE_DF'.
50195, Cannot move independent
Description
Joint arg cannot be moved in independent mode.
Recommended actions
Make sure that independent mode is not used when trying to
move joint.
50196, Calibration failed
Description
Points 0 and 1 too close.
Recommended actions
Make a new calibration with larger distance between points 0
and 1.
50197, Calibration failed
Description
Points 0, 1 and 2 on a line or point 2 too close to points 0 or 1.
Recommended actions
Make a new calibration with points moved so that 0, 1 and 2
are not on a line or with larger distance between point 2 and
points 0 and 1.
50198, Calibration failed
Description
Internal error during calibration due to unknown origin switch.
Recommended actions
Report the occurrence to ABB. Make a new calibration.
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332
50200, Torque error
Description
Torque calculation error due to high speed for mechanical unit
arg. Internal status arg.
Recommended actions
Check load data. Reduce speed.
50201, Orientation outside reach
Description
The error of the programmed orientation exceeds the
acceptance limit.
Recommended actions
Adjust robtarget orientation. Adjust/check orientations of
currently used frames: tool frame, base frame, user frame,
object frame. It is possible (but not recommendable) to switch
off the orientation supervision using the corresponding system
parameter. Please see system parameters documentation for
details (topic Motion and type Robot).
50203, Measurement node used
Description
The measurement node for joint arg is already used.
Recommended actions
Select another node.
50204, Motion supervision
Description
Motion supervision 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.
If Collision Error Handling is not configured, the execution will
stop and it will remain in Motors On, awaiting a start request.
If Collision Error Handling is configured, the execution will
continue into an error handler.
Probable causes
Triggering of the motion supervision may be caused by a
collision, incorrect load definition or forces in external process.
Recommended actions
If execution is stopped, 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
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA