Epson RC90 Manual page 220

Maintenance 9. Troubleshooting
No.
Serial encoder communication failure.
9711 Reboot the controller. Check the motor, the
DMB, or the encoder IF board.
Servo CPU watchdog timer failure.
9712 Reboot the controller. Check the motor or
the DMB.
Current control circuit WDT failure.
9713
Reboot the controller. Check the controller.
9715 Encoder is reset. Reboot the controller.
Power supply failure of the absolute encoder.
9716 Replace the battery to a new one. Check
the robot internal wiring.
Backup data failure of the absolute encoder.
9717
Reset the encoder.
9718 Absolute encoder battery alarm.
Position failure of the absolute encoder.
9719
Reset the encoder. Replace the motor.
Speed is too high at controller power ON.
9720
Stop the robot and reboot the controller.
9721 Absolute encoder over heat.
R/D converter detected the error.
9722 Reset the encoder, or check for the encoder
and manipulator internal wiring.
G sensor communication error.
9723 Check for the signal cable connection or
manipulator internal wiring.
G sensor data error.
9724
Check for the control board.
Gap occurred between multi-turn data and
9725 R/D conversion data.
Encoder reset.
Resolver's excitation signal is disconnected.
9726 Reset the encoder, or check for the resolver
board and manipulator internal wiring.
S-DSP detected the communication error in
9727 DSP.
Check for DMB.
Current feedback data error is detected.
9728
Check for DMB.
D-DSP detected the communication error in
9729 DSP.
Check for DMB.
High speed while the absolute encoder in
9730 OFF.
Encoder reset.
9732 Servo alarm A.
204
Message Remedy
Check the robot configuration.
Check the signal cable.
Replace the DMB and encoder I/F board.
Replace the DMB.
Check the noise countermeasures.
Check the power cable connection.
Check the 15V power supply and cable
connection.
Replace the DMB.
Check the noise countermeasures.
Reboot the controller.
Reset the encoder.
Check the signal cable connection.
Reset the encoder.
Check the signal cable connection.
Replace the battery.
Check the signal cable connection.
Reset the encoder.
Replace the motor. (Encoder failure)
Reboot the controller.
Lower the motion duty.
Wait until the temperature of the encoder
decreases.
Resets the encoder.
Check the signal wiring of the manipulator
(loose pin, disconnection, short).
Replace the resolver board.
Check for the signal cable connection.
Check the signal wiring of the manipulator
(loose pin, disconnection, short).
Check the noise countermeasure.
Replace the control board.
Replace the DMB.
Replace the control board.
Reset the resolver
Check the noise countermeasure.
Replace the resolver board.
Check the signal wiring of the manipulator
(loose pin, disconnection, short).
Replace the resolver board.
Reboot the Controller.
Check the noise countermeasure.
Replace the DMB.
Reboot the Controller.
Check the noise countermeasure.
Replace the DMB.
Reboot the Controller.
Check the noise countermeasure.
Replace the DMB.
Reset the encoder.
Replace the motor.
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Note 1
RC90 (EPSON RC+ 7.0) Rev.8
Note 2