Epson RC90 Manual page 183

No. Message
Arm reached the limit of motion
4001
range.
Specified value is out of allowable
4002
range.
Motion device driver failure.
4003 Communication error within the
motion control module.
Motion device driver failure.
4004 Event waiting error within the motion
control module.
Current point position is above the
4005
specified LimZ value.
Target point position is above the
4006
specified LimZ value.
Coordinates conversion error. The
end/mid point is out of the motion
4007
area. Jogging to the outside of the
motion area.
Current point position or specified
4008
LimZ value is out of motion range.
Motion device driver failure.
4009 Timeout error within motion control
module.
Specified Local coordinate was not
4010
defined.
Arm reached the limit of XY motion
4011
range specified by XYLim statement.
Upper limit value of Box is smaller
4012 than the lower limit value. Change
the upper and lower limit values.
Motion control module internal
4013
calculation error.
4014 MCAL was not completed.
SFree statement was attempted for
4016
prohibited joint(s).
Communication error within the
4018 motion control module. Check sum
error.
Point positions used to define the
4021
Local are too close.
Point coordinate data used to define
4022
the Local is invalid.
Cannot execute when the motor is in
4023
the off state.
Cannot complete the arm positioning
4024
using the current Fine specification.
RC90 (EPSON RC+ 7.0) Rev.8
Remedy
Check the point to move, current point,
and Range setting.
Review the setting parameters.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Lower the Z axis. Increase the specified
LimZ value.
Lower the Z coordinate position of the
target point. Increase the specified
LimZ value.
Check whether the coordinate out of the
motion range is not specified.
Change the specified LimZ value.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Define the Local coordinate system.
Check the area limited by the XYLim
statement.
Set the upper limit value to be larger than
the lower limit value.
Calculation of the timing of Arch motion
failed. Perform either of the following:
- Check and modify Arch parameter
- Disable Arch
Execute MCal. Make sure the MCOdr
is set for the joint connected to the PG
board.
Due to robot mechanistic limitation,
setting some joint(s) to servo free status
is prohibited. Check the robot
specifications.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Set the distance between points more
than 1μm.
Match the coordinate data for the points
to be specified.
Turn the motor power ON and then
execute.
Check whether the robot does not
generate vibration or all parts and screws
are secured firmly. Increase the Fine
setting value.
Maintenance 9. Troubleshooting
Note 1 Note 2
The parameter
causing the
error
Local number
167