Epson RC90 Manual page 184

Maintenance 9. Troubleshooting
No. Message
Cannot execute a motion command
4025
during emergency stop condition.
Communication error within the
4026 motion control module. Servo I/F
failure.
Communication error within the
4028 motion control module. Device
driver status failure.
Buffer for the average torque
calculation has overflowed.
4030
Shorten the time interval from Atclr
to Atrq.
Cannot execute a motion command
4031
when the motor is in the off state.
Cannot execute a motion command
4032 when one or more joints are in SFree
state.
The specified command is not
4033 supported for Pulse Generator Board
joints.
Specified command is not supported
4034
for this manipulator model.
Only the tool orientation was
4035 attempted to be changed by the CP
statement.
Rotation speed of tool orientation by
4036
the CP statement is too fast.
The point attribute of the current and
4037 target point positions differ for
executing a CP control command.
Two point positions are too close to
4038
execute the Arc statement.
Three point positions specified by the
4039
Arc statement are on a straight line.
Motion command was attempted to
4041 the prohibited area at the backside of
the robot.
Motion device driver failure.
4042 Cannot detect the circular format
interruption.
Specified command is not supported
4043 for this manipulator model or this
joint type.
Curve failure. Specified curve form
4044
is not supported.
Curve failure. Specified mode is not
4045
supported.
Curve failure. Specified coordinate
4046
number is out of the allowable range.
Curve failure. Point data was not
4047
specified.
168
Remedy
Clear the emergency stop condition and
execute the motion command.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Shorten the time interval from Atclr to
Atrq less than about two minutes.
Turn the motor power ON and then
execute the motion command.
Set all joints to the SLock state and
execute the motion command.
The specified command is not permitted
for the joints with PG board.
Use the Jump3 and Jump3CP statements.
Set a move distance between points.
Use the ROT modifier, SpeedR
statement, and AccelR statement.
Decrease the setting values for the
SpeedS and AccelS statements. Use the
ROT modifier, SpeedR statement, and
AccelR statement.
Match the point attribute.
Set the distance between points more
than 1μm.
Use the Move statement.
Check the robot motion range.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Remove the unsupported command from
the program.
Create a Curve file again with the Curve
statement.
Specify the Curve mode properly.
Create a Curve file again with the Curve
statement.
The number of the available coordinate
axes is 2, 3, 4, and 6. Create a Curve
file again with the Curve statement.
Create a Curve file again with the Curve
statement.
Note 1
RC90 (EPSON RC+ 7.0) Rev.8
Note 2