ABB IRC5 Operating Manual page 241

Consequences
If no repositioning is done, before restart of circular search,
movement that can cause damage might occur.
Recommended actions
Recovery: arg.
40576, ParId Error
Description
Task: arg.
The array size of argument AxValid is not equal to number of
axes.
Program ref: arg.
Recommended actions
Check the size of the array.
40577, ParId Error
Description
Task: arg.
Function ParIdRobValid needs to be executed before function
ParIdPosValid.
Program ref: arg.
Probable causes
Function ParIdRobValid needs to be executed before function
ParIdPosValid.
Recommended actions
Check that function ParIdRobValid has been executed before
ParIdPosValid.
40578, ParId Error
Description
Task: arg.
The optional argument PayLoad is missing. For PayLoad
identification the argument must be given.
Program ref: arg.
Recommended actions
Give a value to the argument PayLoad.
40579, ParId Error
Description
Task: arg.
The optional argument PayLoad may only be used for PayLoad
identification.
Program ref: arg.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
Recommended actions
Remove the argument PayLoad.
40580, ParId Error
Description
Task: arg.
Faulty state for LoadIdInit.
Program ref: arg.
Recommended actions
Check the whole ParId sequence.
40581, ParId Error
Description
Task: arg.
Faulty state for ParIdMoveSeq.
Program ref: arg.
Recommended actions
Check the whole ParId sequence.
40582, ParId Error
Description
Task: arg.
Faulty state for LoadIdInit.
Program ref: arg.
Recommended actions
Check the whole ParId sequence.
40583, ParId Error
Description
Task: arg.
Backward execution not allowed.
Program ref: arg.
40584, ParId Error
Description
Task: arg.
ParIdMoveSeq / Parameter NextMove: Faulty array size.
Program ref: arg.
Recommended actions
Check the size of the array.
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