Epson RC90 User Manual page 180

Maintenance 9. Troubleshooting
No. Message
Improper acceleration reference was
4242
generated.
Improper speed
4243
generated in high power mode.
Arm reached the limit of motion
4250
range during the operation.
Arm reached the limit of XY motion
4251 range specified by XYLim during the
operation.
Coordinate conversion error occurred
4252
during the operation.
The Arm reached the limit of motion
4261
range in conveyor tracking.
The Arm reached the limit of XY
4262
motion range in conveyor tracking.
The Arm reached the limit of pulse
4263
motion range in conveyor tracking.
Attempt to exceed the J4Flag attribute
4267
without indication.
Attempt to exceed the J6Flag attribute
4268
without indication.
Attempt to exceed the particular wrist
4269 orientation
indication.
Attempt to exceed the particular arm
4270 orientation
indication.
164
You attempted to operate the robot with
the acceleration reference exceeding the
specified value.
For a CP motion, decrease the AccelS
value.
The robot over speed was detected during
high power mode.
Check
(Smoothness,
motion, loose belt tension, brake)
Check whether the robot does not
interfere with peripheral equipment.
reference was
(Collision, contact)
Replace the motor driver.
Replace the motor. (Motor and encoder
failure)
Check the short-circuit and improper
connection of the peripheral equipment
wiring.
Expansion I/O connectors)
Check whether a CP motion trajectory is
within the motion range.
Check the XYLim setting.
Check whether a CP motion trajectory is
within the motion range.
Place the conveyor inside the moiton
range.
range for the deceleration when switching
from tracking motion to non-tracking.
If error occurs during the shift from
tracking motion, it may be prevented by
increasing the accel speed to complete
the tracking motion.
You attempted to exceed the J4Flag
attribute during motion without the
J4Flag indication.
Change the J4Flag for the target point.
You attempted to exceed the J6Flag
attribute during motion without the
J6Flag indication.
Change the J6Flag for the target point.
You attempted to exceed the particular
wrist orientation attribute during motion
without the Wrist indication.
attribute without Change the Wrist attribute for the target
point.
Change the target point to avoid a
particular wrist orientation.
You attempted to exceed the particular
hand orientation attribute during motion
without the Hand indication.
attribute without Change the Hand attribute for the target
point.
Change the target point to avoid a
particular hand orientation.
Remedy
the robot mechanism.
backlash, non-smooth
(Emergency, D-I/O,
Meanwhile, allow the tracking
RC90 (EPSON RC+ 7.0) Rev.4
Note 1
and
Note 2