Epson RC180 Manual page 228

Maintenance 8. Trouble Shooting
Motor Control
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.
The end/mid point is out of the motion
4007
area. Jogging to the out of the motion
area.
Current point position or specified
4008
LimZ value is out of motion range.
Motion device driver failure. Timeout
4009
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.
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.
216
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.
specified LimZ value.
Lower the Z coordinate position of the
target point.
LimZ value.
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.
Calculation of the timing of Arch motion
module internal failed. Perform either of the following:
- Check and modify Arch parameter
- Disable Arch
Due to robot mechanistic limitation,
setting some joint(s) to servo free status
is
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.
Remedy
Increase the
Increase the specified
prohibited. Check the
Increase the Fine
Note 1
The parameter
causing
error
Local number
robot
RC180 Rev.17
Note 2
the