Appendix A - 59
Error Messages
Electrical
Troubleshooting Guide
IRB6400 M94A
A3.5 Motion Error Messages
These are motion errors that can occur during the movment of the robot.
The motion errors have the following error codes : 50000 to 59999.
50001: Serious motion error.........................Chapter 9
Not possible to proceed motion control. Check: Start up the system again.
50021: Joint position error.........................Chapter 9
Actual position of joint %s is too far away from the ordered position. Check: Check trim
parameters, external forces or hardware.
50022: Too low DC-link voltage......................Chapter 9
Check: Check voltage from Motor On contactors Replace DC-link.
50023: Stop/Restart error
The stop was made when too many move instructions were queued for execution. Restart
is not possible. Check: Check the number of move instructions with concurrency. Move
the start point and start a new movement.
50024: Corner path failure
A corner path was executed as a stop point due to a time delay. Check: Check the number
of instructions between the move instructions.
50025: Restart too far from path
Check: Move back to path.
50026: Singularity or Zone error
1. Robot too close to singularity.
2. MoveL to MoveJ corner zone error.
Check:
1. Use the joystick to move away from the singularity or run a program in joint coordinates.
2. Use fine point or modify position.
50027: Joint Out of Range
Joint %s is out of working range. Check: Use the joystick to move the joint into its working
range.
50028: Jog in wrong direction
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