Epson RC90 User Manual page 174

Maintenance 9. Troubleshooting
No. Message
Communication
4026 motion control module.
failure.
Communication
4028 motion control module.
driver status failure.
Buffer for
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
4033 supported for Pulse Generator Board
joints.
Specified command is not supported
4034
for this manipulator model.
Only the tool
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.
4046
number is out of the allowable range.
Curve failure.
4047
specified.
Curve failure. Parallel process was
4048
specified before the point designation.
158
error within the Reboot the controller.
Servo I/F Initialize the controller firmware.
Replace the controller.
error within the Reboot the controller.
Device Initialize the controller firmware.
Replace the controller.
the average torque
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.
command is not
The specified command is not permitted
for the joints with Pulse Generator Board.
Use the Jump3 and Jump3CP statements.
orientation was Set a move distance between points.
Use
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
Create a Curve file again with the Curve
statement.
The number of the available coordinate
Specified coordinate
axes is 2, 3, 4, and 6. Create a Curve
file again with the Curve statement.
Point data was not Create a Curve file again with the Curve
statement.
Create a Curve file again with the Curve
statement.
Remedy
the ROT modifier,
mode properly.
Note 1
SpeedR
RC90 (EPSON RC+ 7.0) Rev.4
Note 2