ABB IRC5 Operating Manual page 315

Probable causes
The EGM identity arg had not been initialized by means of the
RAPID instruction EGMGetId.
Recommended actions
Initialize the EGM identity arg using the RAPID instruction
EGMGetId.
41821, No EGM signals specified
Description
Task: arg.
No EGM input signal was specified in arg.
Program ref: arg.
Consequences
The program execution is stopped immediately.
Probable causes
Recommended actions
At least one signal has to be specified in arg.
41822, No data from the UdpUc device
Description
Task: arg.
No expected data packets have been received for the EGM
instance arg during arg seconds. Rapid Ref: arg.
Consequences
The program execution is stopped immediately.
Recommended actions
Check the connection between the controller and the UdpUc
device "arg". Check that the UdpUc device "arg" is working
properly. Increase the value (arg) for \CommTimeout in
EGMSetupUC.
Recovery: ERR_UDPUC_COMM.
41823, Invalid frame type
Description
Task: arg.
The frame type arg is not allowed together with the RAPID
instruction arg.
Program ref: arg.
Consequences
The program execution is stopped immediately.
Recommended actions
Correct the used frame type.
Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA
41824, Not possible to open the UdpUc device
Description
It was not possible to open the external device arg that was
specified in the RAPID instruction arg.
Consequences
The program execution is stopped immediately.
Recommended actions
Check if: The device name is spelled correctly. The device is
connected. The device is up and running.
41825, EGM not connected
Description
The state of the EGM instance with EGM identity arg is not
connected.
Consequences
The program execution is stopped immediately.
Recommended actions
Use the instructions EGMGetId and/or EGMSetupAI,
EGMSetupAI, EGMSetupGI or EGMSetupUC, to connect EGM.
For more information see the User Manual for EGM.
41826, EGM mode mismatch
Description
There is an EGM mode mismatch for EGM identity arg. It is
important to use the same EGM mode (Joint or Pose) for
EGMSetupAI, EGMSetupAO, EGMSetupGI, EGMSetupUdpUc,
EGMActXX and EGMRunXX.
Consequences
The program execution is stopped immediately.
Recommended actions
Use EGMSetupAI, EGMSetupAO, EGMSetupGI and
EGMSetupUdpUc with the \Joint switch together with
EGMActJoint and EGMRunJoint. Use EGMSetupAI,
EGMSetupAO, EGMSetupGI and EGMSetupUdpUc with the
\Pose switch together with EGMActPose and EGMRunPose.
41827, TCP robot missing
Description
It is not allowed to use EGM in a RAPID task without TCP robot.
Consequences
The program execution is stopped immediately.
Recommended actions
Use EGM in RAPID tasks with TCP robot only.
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5 Troubleshooting by event log
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