Epson RC90 User Manual page 176

Maintenance 9. Troubleshooting
No. Message
ROT modifier
4068 specified for the CP motion command
without orientation rotation.
Specified ECP without selecting ECP
4069
in CP statement.
Specified ECP number does not
4070 match the ECP number used in curve
file creation.
Attempted motion command during
4071
electromagnetic brake lock condition.
Initialization
4072
monitor was not initialized.
Orientation variation of adjacent point
4073
is over 90 degrees.
Motor type does not match the current
4074
robot setting.
4075 ECP Option is not active.
Point positions used to define the
4076
Plane are too close.
Point coordinate data used to define
4077
the Plane is invalid.
Only the additional ST axis was
4078 attempted to be changed by the CP
statement.
Speed of additional ST axis by the CP
4079
statement is too fast.
Cannot execute when the Enable
4080
Switch is OFF.
4081 Error was detected during operation.
Pulse Generator Board error was
4082
detected during operation.
4083 MCAL did not complete in time.
Limit Sensor error was detected
4084
during operation.
4085 Failed to change to specified location.
Cannot execute because it is not dry
4086
run mode.
4087 Failed to format the playback file.
Servo error was detected during
4099
operation.
160
parameter was
Delete the ROT from the CP motion
command.
Specify a valid ECP.
Specify a valid ECP.
Release the electromagnetic brake
Reboot the controller.
failure. Hardware
Initialize the controller firmware.
Replace the controller.
Any of U, V, or W changes 90 degrees or
more.
orientation.
Check whether the specified robot model
is connected.
Enable the ECP option.
Set the distance between points more
than 1 μm.
Match the coordinate data for the points
to be specified.
Use PTP motion commands in order to
move the additional axis only.
Reduce the set values of SpeedS and
AccelS.
Turn the Enable Switch ON and then
execute.
Check the pulse output board.
Check the connection with the motor
driver.
Replace the pulse output board.
Replace the controller.
Check the pulse output board.
Check the connection with the motor
driver.
Replace the pulse output board.
Set PG parameter so that MCAL can
complete within 120 seconds.
Check the limit sensor.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Change to the dry run mode and execute.
Check the amount of free space of the
computer.
Reboot the computer.
Reinstall the RC+.
Replace the computer.
Remedy
Change the point or the
RC90 (EPSON RC+ 7.0) Rev.4
Note 1 Note 2