ABB Error 41791 — SoftMove is not allowed with zero mass

What it means · Ce que ça veut dire

SoftMove is not allowed with zero mass — ABB robot hardware event on the SoftMove is not allowed with zero mass (IRC5). Specific to this controller generation. Severity: Major. Field diagnosis below (French); your robot's own manual remains authoritative.

Task: arg . The current load data that is used when CSSAct is called has a mass of arg Kg. SoftMove need to have an accurate load definition. This is normally set by the load definition that is part of the tool definition. Program ref: arg . When SoftMove detects a mass less or equal to 0.001 Kg it will not allow activation. Hence CSSAct instruction will not be possible to run with tool0. 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 SoftMove is not allowed with zero mass, 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 : Current tool when the instruction CSSAct was run is tool0 or another tool with too small mass.
• The current tool is set by a move instruction or by jogging prior to the CSSAct instruction.
• Use as accurate tool definition as possible.
• Use the load identification.
• If simple tests of SoftMove is done with only the mounting flange as tool then a tool definition similar to tool0 needs to be created but with a mass greater than 0.002 Kg.

Frequently asked · Questions fréquentes

What does ABB error 41791 mean?

ABB 41791 (“SoftMove is not allowed with zero mass”): SoftMove is not allowed with zero mass — ABB robot hardware event on the SoftMove is not allowed with zero mass (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 41791?

Inspect the SoftMove is not allowed with zero mass, 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