Epson RC90 User Manual page 173

No. Message
Arm reached the limit of motion
4001
range.
Specified value is out of allowable
4002
range.
Motion device driver failure.
4003 Communication
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.
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.
Motion control
4013
calculation error.
4014 MCAL was not completed.
SFree statement was attempted for
4016
prohibited joint(s).
Communication
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.
Cannot execute a motion command
4025
during emergency stop condition.
RC90 (EPSON RC+ 7.0) Rev.4
Check the point to move, current point,
and Range setting.
Review the setting parameters.
Reboot the controller.
error within the 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.
LimZ value.
The
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.
module internal
Execute MCal. Make sure the MCOdr
is set for the joint connected to the Pulse
Generator Board.
Due to robot mechanistic limitation,
setting some joint(s) to servo free status
is prohibited.
specifications.
error within the 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.
setting value.
Clear the emergency stop condition and
execute the motion command.
Maintenance 9. Troubleshooting
Remedy
Increase the specified
Check the robot
Increase the Fine
Note 1 Note 2
The parameter
causing the
error
Local number
157