Epson RC90 User Manual page 209

No.
Servo real time status failure.
9632
Servo free running counter error
Servo real time status failure.
9633
Servo CPU communication error.
Irregular motion control interruption was
9640 detected.
Interruption duplicate.
9691 Data sending failure in motion network.
9692 Data receiving failure in motion network.
Servo control gate array failure. Check the
9700
DMB.
Disconnection of the parallel encoder signal.
9701 Check the signal cable connection or the
robot internal wiring.
Motor driver is not installed.
9702 motor driver. Check the DMB or the motor
driver.
Initialization communication
9703 incremental encoder.
cable connection and the robot setting.
Initialization failure of absolute encoder.
9704 Check the signal cable connection or the
robot setting.
Encoder division setting failure. Check the
9705
robot setting.
Data failure at
9706 initialization.
connection, the controller, or the motor.
Absolute encoder multi-turn is beyond the
9707
maximum range. Reset the encoder.
Position is out of the range.
9708
encoder.
No response from the serial encoder.
9709 Check the signal cable connection, the
motor, the DMB, or the encoder IF board.
RC90 (EPSON RC+ 7.0) Rev.4
Message
Install the
failure of
Check the signal
the absolute encoder
Check the signal cable
Reset the
Maintenance 9. Troubleshooting
Remedy
Reboot the controller.
Replace the DMB.
Check the noise countermeasures.
Reboot the controller.
Replace the DMB.
Check the noise countermeasures.
Reboot the controller.
Replace the DMB.
Check the noise countermeasures.
Check the connection of the cable for Drive
Unit.
Check the connection of the cable for Drive
Unit.
Check the short-circuit
connection of the peripheral equipment wiring.
(Emergency and I/O connectors)
Replace the DMB.
Replace the additional axis unit.
Check the M/C cable signal.
Check the robot signal wiring. (Missing pin,
disconnection, short-circuit)
Replace the motor. (Encoder failure)
Replace the DMB. (Detection circuit failure)
Check the connector connection in the
controller. (Loosening, connecting to the serial
encoder terminal on the DMB)
Check the model setting. (Improperly setting of
the parallel encoder)
Check the peripheral equipment
(Emergency and I/O)
Check whether the motor driver is mounted.
Check the model setting and hardware setting.
Replace the motor driver.
Replace the DMB.
Check the model setting.
Replace the motor. (Encoder failure)
Replace the DMB.
Check the model setting.
Replace the motor. (Encoder failure)
Replace the DMB.
Check the model setting.
Replace the motor. (Encoder failure)
Replace the DMB.
Check the noise countermeasures.
Reset the encoder.
Replace the motor. (Encoder failure)
Reset the encoder.
Replace the DMB.
Replace the motor. (Encoder failure)
Check the model setting. (Improperly setting of
the parallel encoder model)
Check the signal cable connection.
Replace the DMB and encoder I/F board.
Note 1
and improper
wiring.
Note 2
193