Electrical
Troubleshooting Guide
IRB6400 M94A
Appendix A - 66
Error Messages
50139: Arm check point outside
Jogging was made in wrong direction when arm check point was out of working range.
Check: Use the joystick to move the joint in opposite direction.
50140: Payload too large
Heavy payload caused static torque limit to be exceeded on joint %s. Check: Check and
reduce payload for arm and/or wrist. Reduce joint working range to decrease static torque
due to gravity.
50141: Speed, Zone or Jog error
1. Robot too close to singularity
2. MoveL to MoveJ corner zone error
3. Jogging error
4. High speed error
Check:
1. Move away from the singularity or run the program in joint coordinates
2. Use fine point or modify position
3. Try again
4. Reduce the programmed speed
Motion Error Messages (Cont)
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