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.
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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Operating manual - Troubleshooting IRC5
315
3HAC020738-001 Revision: AA
© Copyright 2005-2018 ABB. All rights reserved.
5 Troubleshooting by event log
5.6 4 xxxx
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