ABB IRC5 Operating Manual page 351

50403, AW board not connected
Description
During startup, no communication was established with unit
<arg> on bus <arg>.
Consequences
It is not possible to access the unit or signals on the unit, since
it is currently not communicating with the controller.
Probable causes
The unit is either not connected to the system, or it is
connected, but has been assigned the wrong address.
Recommended actions
Make sure all unit addresses match the configuration. Make
sure all addresses are unique, and not used by more than one
unit. Change the address and/or connect the missing unit. If
you changed the address, the power supply to the unit must
be cycled (switched OFF and then back ON), to make sure the
address has been changed.
50404, Additional axis movement during Wrist
Interpolation
Description
Task: arg.
Program ref. arg.
An additional axis is programmed to move during wrist
interpolation.
Consequences
The task execution will stop.
Recommended actions
Make sure that no additional axis is programmed to move while
doing wrist interpolation.
50405, Coordinated movement during Wrist
Interpolation
Description
Task: arg.
Program ref. arg.
Attempt to do wrist interpolation against a moving frame.
Consequences
The task execution will stop.
Recommended actions
Remove movement coordination while doing the wrist
interpolation.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
50406, Wrist Interpolation point not on circle
plane
Description
Task: arg.
Program ref. arg.
The target arg is not on the circle plane. The deviation is arg
mm.
p1 = starting point
p2 = circle point
p3 = end point.
Consequences
For a cutting process, the cut hole will not be circular.
Recommended actions
If a circular arc is intended, then change the corresponding
target so that it is on the circle plane.
50407, Wrist axis locked
Description
Task: arg.
Program ref. arg.
Cannot do wrist interpolation using arg because axis arg is
locked.
Consequences
The task execution will stop.
Recommended actions
Change to another wrist axis combination that does not involve
the locked axis. Note that the robot must have at least two
movable wrist axes to do wrist interpolation.
50408, Wrist joint limit
Description
Task: arg.
Program ref. arg.
Cannot do wrist interpolation because robot axis arg will violate
a joint limit.
Consequences
The task execution will stop.
Recommended actions
Choose another robot configuration or another wrist axis
combination.
50409, Wrist Interpolation not possible
Description
Task: arg.
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