ABB IRC5 Operating Manual page 355

Consequences
The system will unsynchronize the joint next time the system
makes a restart or power up.
Recommended actions
Clear the revolution counter in normal position for clearing
revolution counter.
50428, SC Software synchronization started
Description
Safety Controller software synchronization procedure has
started.
50429, CSS parameter damping obsolete
Description
The CSS parameters regarding damping is obsolete. The
damping is now in all directions set by the stiffness to damping
ratio. To change the behavior
of the non soft directions, use the parameters 'Stiffness in non
soft dir'.
Recommended actions
Change the damping parameters to 'Stiffness in non soft dir'
according to description in the manual.
50430, Underrun in the axis computer
Description
The axis computer in drive module arg has detected underrun
of data from the main computer and therefore stopped the
execution.
Consequences
The system goes to SYS HALT.
Probable causes
There is a communication error/glitch between the main
computer and the axis computer. A previous error has put the
system in a high CPU load state. High CPU load in the main
computer, for example generated by too frequent I/O
communication.
Recommended actions
Check for other error logs. Check the Ethernet cabling and
connector on both the main computer and the axis computer.
Reduce load on the main computer.
50431, Predicted Collision
Description
Predicted a collision between objects 'arg' and 'arg'.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Consequences
The robots stop immediately.
Probable causes
RobotWare has predicted that one or more robots are about to
collide.
Recommended actions
Jog the robot in another direction if the problem occurred during
jogging. Change the robot program to increase the clearance
between the involved objects. Decrease the safety distance for
the involved objects (in the Collision Avoidance configuration
file). If you are sure that the involved objects are not about to
collide, then try the following: Check that the Collision
Avoidance configuration for the involved objects is correct.
Check that the base-frame definition of the involved robots are
correct. Turn off Collision Avoidance.
50432, Identical Base Frames
Description
The mechanical units arg and arg have identical base frames.
Consequences
Since the base frames are identical, Collision Avoidance can
only check for robot self-collisions. Hence, collision checks
between robots and between robot and environment will not
be done.
Probable causes
The base frames are not properly defined.
Recommended actions
Define the base frames, for example using the base-frame
calibration routine.
50433, Position changed to inside working area
Description
The joint arg is outside its normal working area when an
Independent Reset instruction is executed.
Consequences
The position is moved to inside the normal working area.
Probable causes
The joint has been moved too far away in independent mode.
The configured normal working area is too small.
Recommended actions
To avoid this event message - move the joint back to inside its
normal working area before the instruction IndReset executed
or PP to Main is done.
Increase the normal working area.
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5 Troubleshooting by event log
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