Abb robot alarm

It might, help if you will change the language to English, since it's English forum.

I'm assuming it's:

34312, Missing drive unit

Description:
For joint arg, the system cannot find configured drive unit. The joint is configured for drive module arg, in the drive unit at unit position arg.

Consequences:
The system goes to System Failure state.

Probable causes:
A joint is configured but drive unit is not found.

Recommended actions:
1) Verify that the drive module contains the drive unit for the
configured joint
2) Verify that the configuration for the drive unit position is
correct.
3) Verify that the cables between drive units are correctly
inserted in the correct connector position.
4) If the cable is correctly connected, then it may be damaged
and should be replaced.
5) Check the event log for power supply unit error messages.
6) Check the cabling between the power supply unit and the
drive unit.
7) Check the 24V output from the power supply unit