ABB IRC5 Operating Manual page 345

Recommended actions
Make sure Software Equalizing is off when executing an
Independent Gun Move.
50352, Number of move instruction mismatch
Description
Using the path recorder within synchronized motion requires:
That Tool offset must be present for all or none cooperating
program tasks.
That all cooperating program tasks move backwards/forwards
the same number of move instructions.
Recommended actions
Verify that the all tasks or none of the tasks use the optional
argument Tool Offset.
Verify that the path recorder identifier moving towards are at
the same position in all tasks within the synchronized block.
50353, Failed to read data from encoder card
Description
The system has failed to read data from one encoder card.
Consequences
The tracking accuracy during acceleration and deceleration
might be reduced.
Probable causes
Wrong unit name has probably been specified in the process
parameter for
arg.
Recommended actions
Check that the correct unit name is specified in the process
parameter I/O unit name for arg.
50354, Ordered force reference is too large
Description
The ordered force reference is larger than the configured
maximum value.
Consequences
The ordered force reference has been reduced to the configured
value.
Recommended actions
To allow a larger reference force the system parameters need
to be updated. Note that there is an absolute limit of force
reference size that depends on the robot type.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50355, Ordered torque reference is too large
Description
The ordered torque reference is larger than the configured
maximum value.
Consequences
The ordered torque has been reduced to the configured
maximum value.
Recommended actions
To allow a larger reference torque the system parameters need
to be updated.
50356, Ordered MaxForce is too large
Description
The parameter 'MaxForce' in instruction FCRefSprForce is
larger than the configured maximum value.
Consequences
The parameter 'MaxForce' has been reduced to the configured
maximum value.
Recommended actions
To allow a larger value the system parameters need to be
updated.
50357, Ordered MaxTorque is too large
Description
The parameter 'MaxTorque' in instruction FCRefSprTorque is
larger than the configured maximum value.
Consequences
The parameter 'MaxTorque' has been reduced to the configured
maximum value.
Recommended actions
To allow a larger value the system parameters need to be
updated.
50358, Close to singularity when in force control
Description
Close to singularity when in force control mode for robot arg.
Recommended actions
Modify path away from the singularity or change to joint
interpolation.
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5 Troubleshooting by event log
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