ABB IRC5 Operating Manual page 349

Recommended actions
The damping is calculated from a ratio of stiffness.
Change the value of 'Stiffness' or 'StiffnessNonSoftDir' in the
CSSAct instruction. If that does not help increase the value of
the system parameter 'Damping stability limit' or change the
parameter 'Stiffness to damping ratio' in topic Motion and type
CSS.
50388, Cartesian Soft Servo position supervision
error
Description
The user defined position supervision in Cartesian Soft Servo
mode trigged.
Consequences
The robot halts.
Probable causes
The position error is larger than the allowed range specified in
the configuration.
Recommended actions
Increase the allowed position error in the configuration or modify
the program.
50389, Cartesian Soft Servo singularity
Description
The robot is too close to singularity which effects the Cartesian
Soft Servo behavior.
Consequences
The robot behavior will be different from specified.
Recommended actions
Modify the program to avoid the singularity.
50390, Cartesian Soft Servo speed supervision
Description
The user defined speed supervision in Cartesian Soft Servo
mode trigged.
Consequences
The robot halts.
Probable causes
The speed error is larger than the allowed range specified in
the configuration.
Recommended actions
Increase the allowed speed error in the configuration or modify
the program.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50391, Cartesian Soft Servo movement not
allowed
Description
Jogging or a programmed movement has been detected.
Consequences
The ordered movement is ignored.
Recommended actions
Movement during Cartesian Soft Servo is only allowed if the
switch AllowMove has been used in the CSSAct instruction.
50392, SafeMove communication error
Description
Communication with the SafeMove controller on drive module
arg has failed.
Consequences
Brake tests cannot be done.
Recommended actions
Check if the SafeMove hardware is connected.
50393, Force offset applied in non-soft direction
Description
The force-offset direction in CSSForceOffsetAct is not the same
as the soft direction specified by CSSAct.
Consequences
The robot will not become easier to push in the soft direction.
There can also be position deviations from the programmed
path in the non-soft directions.
Recommended actions
Make sure the direction given in CSSForceOffsetAct is
compatible with the direction given in CSSAct.
50394, The Path for the Unit is cleared
Description
The robot arg is semi coordinated to unit arg from another task
and the path for the unit has been cleared.
This can happen after a modpos, SyncMoveOff,
SyncMoveSuspend, ActUnit, DeactUnit, ClearPath or if the unit
has no move instruction with a well-defined position before
starting the semi coordinated movement.
The position of unit arg cannot be read from other tasks.
Consequences
Program run or restart will be interrupted.
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5 Troubleshooting by event log
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