ABB IRC5 Operating Manual page 350

5 Troubleshooting by event log
5.7 5 xxxx
Continued
Recommended actions
If the programmed position of the unit is moved by modpos
when the robot is semi coordinated to the unit, then step the
unit to the new position to define the path and move the program
pointer in the robot program to be able to restart the program.
Make sure that the unit arg has a move instruction with a
finepoint to a well-defined position and that all programs has a
WaitSyncTask before and after the semi coordinated
movement.Make sure that the unit is not moved during the semi
coordinated movement. Note that WaitSyncTask also is needed
after the semi coordination, before SyncMoveOn and
SyncMoveResume.
50396, Default FC force supervision error
Description
The default force supervision has trigged because the
programmed or measured external forces are larger than the
safety limit for the robot type.
Consequences
The robot will stop.
Recommended actions
Modify the program to decrease the total external force acting
on the robot.
50397, Path frame rotation speed error
Description
The rotation speed of the path frame is too high when using FC
Machining with ForceFrameRef set to FC_REFFRAME_PATH.
Consequences
The robot will stop.
Recommended actions
Reduce programmed speed, increase corner zones, or decrease
the distance between the programmed path and the surface.
50398, Circle begins with a frame change
Description
Task: arg.
When having the Absolute Accuracy or Conveyor option, MoveC
instructions that are coordinated to another mechanical unit
must use the same tool and work object as the previous move
instruction.
Consequences
The robot will stop.
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Recommended actions
Change the move instruction before arg so that they both use
the same frames. Alternatively, add a (redundant) MoveL to the
start point of the circle arc, using the same frames as the MoveC
instruction.
50399, Absolute Accuracy circle is first
movement instruction
Description
Task: arg.
When having the Absolute Accuracy option, MoveC cannot be
the first movement instruction.
Consequences
The robot will stop.
Recommended actions
Add a movement instruction before arg, using the same tool
and frames.
50400, Motion configuration error
Description
The parameter 'Disconnect at Deactivate' for measurement
channel was inconsistent for measurement link arg. All channels
on the same link have to have the same setting for this
parameter.
Recommended actions
Check the configuration file.
Use correct parameters and reset the system.
50401, Startup synchronization failed
Description
The system relay 'arg' is defined but no response was received
during the startup (waited for arg minutes).
Recommended actions
Make sure that the 'Input signal' of the relay is configured and
connected and startup all synchronized systems simultaneously.
50402, Correction is not ended in a finepoint
Description
Task: arg.
The last move instruction with correction specified has to be a
finepoint.
Program ref. arg.
Recommended actions
Change the zone parameter to fine.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA