ABB IRC5 Operating Manual page 358

5 Troubleshooting by event log
5.7 5 xxxx
Continued
that is utilizing the External Motion Interface functionality, and
correct the RAPID program.
50446, External Motion Interface ramp time
increased
Description
External Motion Interface ramp time was increased in order to
avoid over-speed when ramping down correction arg.
New ramp time: arg seconds.
Consequences
The user defined ramp time was increased to avoid over-speed.
Recommended actions
Increase the maximum allowed correction speed to allow faster
ramp-down, or increase the user defined ramp time.
50447, Incorrect mechanical units for External
Motion Interface
Description
One or more specified mechanical units for correction arg are
not allowed in External Motion Interface.
Consequences
The correction will not be activated.
Probable causes
An attempt was made to activate an External Motion Interface
correction with mechanical units that are not active, or do not
belong to the same motion task.
Recommended actions
Check the application that is utilizing the External Motion
Interface functionality, and change the activation parameters
to the correct mechanical unit(s).
50448, Error in External Motion Interface input
Description
Illegal format for the External Motion Interface input for
correction arg.
Consequences
The program execution is stopped, and the system goes to
Motors Off state.
Probable causes
The format of the input written to External Motion Interface was
illegal. Two possible reasons are: The quaternions that are used
by External Motion Interface are not properly normalized. Other
illegal numerical values used as input to External Motion
Interface.
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Recommended actions
Make sure that the External Motion Interface input data is
correct, and restart the program.
50449, Mechanical unit close to joint bound
Description
The movement created by the External Motion Interface
correction arg is causing mechanical unit arg joint arg to move
too close to its joint bound.
Consequences
The program execution is stopped, and the system goes to
Motors Off state.
Probable causes
One or more axes is approaching its joint bound.
Recommended actions
Avoid moving too close to the joint bounds, or decrease the
maximum allowed correction speed to decrease safe stop
distance.
50450, External Motion Interface activation error
Description
The activation of External Motion Interface correction arg failed.
Consequences
The program execution is stopped, and the system goes to
Motors Off state.
Probable causes
Communication with the source of External Motion Interface
input, for example a sensor or other device, could not be set
up correctly.
Recommended actions
Check for possible other error messages regarding sensor or
communication errors.
50451, External Motion Interface deactivation
error
Description
The deactivation of External Motion Interface correction arg
failed.
Consequences
The program execution is stopped, and the system goes to
Motors Off state.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA