ABB Error 39401 — Torque Current Reference Error

What it means · Ce que ça veut dire

Torque Current Reference Error — ABB robot hardware event on the Torque Current Reference Error (IRC5). Specific to this controller generation. Severity: Major. Field diagnosis below (French); your robot's own manual remains authoritative.

The torque-current reference is increasing too quickly for joint arg, connected to drive module arg . Le texte constructeur de ce code n'existe qu'en anglais dans les manuels ABB dont il provient. Il est reproduit tel quel ci-dessus ; le manuel de votre robot fait foi.

What to check · Que vérifier

• Inspect the Torque Current Reference Error, its wiring and connections first.
• Match this code against your robot's event-log timeline before swapping parts.
• Follow the French field checks below — they are the tested sequence for this fault.
• probable : The resolver feedback may be poor or the speed loop gain may be badly adjusted.
• Check the resolver cable and the resolver grounding for this joint.
• If this joint is an additional axis, then check that the motor data in the configuration file is correct.
• The configuration data is described in Technical reference manual - System parameters.
• Reduce the gain of the speed loop.

Frequently asked · Questions fréquentes

What does ABB error 39401 mean?

ABB 39401 (“Torque Current Reference Error”): Torque Current Reference Error — ABB robot hardware event on the Torque Current Reference Error (IRC5). Specific to this controller generation. Severity: Major. Field diagnosis below (French); your robot's own manual remains authoritative.

How do you troubleshoot ABB error 39401?

Inspect the Torque Current Reference Error, its wiring and connections first. Match this code against your robot's event-log timeline before swapping parts. Follow the French field checks below — they are the tested sequence for this fault.

Related codes / Codes liés