ABB IRC5 Operating Manual page 354

5 Troubleshooting by event log
5.7 5 xxxx
Continued
Recommended actions
Use SingArea\Off. The CirPathMode can also be used. Check
Controller and Motion configuration. Use MoveL or remove
Absolute Accuracy. Use MoveAbsJ.
50420, IndCnv Mechanical Unit Error
Description
The mechanical unit arg is not correctly configured for IndCnv
functionality.
Consequences
Program execution is stopped.
Probable causes
The mechanical unit arg consists of more than one single.
The single connected to arg is not of type 'FREE_ROT'.
The single connected to arg is not defined as an Indexing Move
single.
Recommended actions
Make sure mechanical unit arg consists of only one single.
Make sure system parameter 'Mechanics' in topic Motion and
type Single is of type 'FREE_ROT'.
Make sure system parameter 'Indexing Move' in topic Motion
and type Single Type is 'Yes'.
50421, IndCnv Tracking Single Error
Description
The single arg is not configured as an Indexing Move single
Consequences
Program execution is stopped.
Recommended actions
Make sure system parameter 'Single To Track' in topic Process
and type Can Interface refers to a Single with 'Indexing Move'
in topic Motion and type Single Type set to 'Yes'.
50422, IndCnv and Independent joint error
Description
Independent joint instructions are not allowed when single arg
is in indexing mode.
Consequences
Program execution is stopped.
Recommended actions
Execute the RAPID instruction IndCnvReset before using the
axis as an independent joint.
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354
50423, IndCnv Time before indexing move too
low
Description
The time between trig signal and start of indexing movement
is configured too low.
Consequences
The program execution is stopped.
Recommended actions
Increase system parameter 'Time before indexing move' in topic
Motion and type Single Type to at least arg (ms).
Remove or decrease robot acceleration limitations if possible.
Please consult the Conveyor Tracking application manual for
further actions.
50425, Friction FFW parameter is not On
Description
Tuning friction parameters requires 'Friction FFW On' to be set
to 'Yes'.
Consequences
Friction tuning for joint arg will have no effect.
Recommended actions
Set system parameter 'Friction FFW On' to 'Yes' for joint arg in
type arg and topic Motion.
50426, Out of interpolation objects
Description
The maximum number of available interpolation objects has
been reached. This can occur if the dynamic performance is
set to a very low value for example by use of the AccSet or
PathAccLim command.
Consequences
The program execution is stopped and the system goes to
Motors Off state.
Recommended actions
Increase the number of objects by increasing the value of the
'Use Additional Interp. Object Batch' system parameter by 1,
in the corresponding instance of type Motion Planner in topic
Motion.
50427, Joint not synchronized after calibration
Description
After fine calibration of joint arg witch is using alternative
calibration position, the joint has not been moved to normal
synchronize position for updating the revolution counter.
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Operating manual - Troubleshooting IRC5
3HAC020738-001 Revision: AA