Epson RC180 Manual page 234

Maintenance 8. Trouble Shooting
No. Message
Servo real time
4233 Communication error with the servo
CPU.
Irregular motion control interruption
4240 was detected.
Interruption duplicate.
Over speed during low power mode
4241
was detected.
Improper acceleration reference was
4242
generated.
Improper speed reference is generated
4243
in the high power mode.
Arm reached the limit of motion range
4250
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.
222
A communication error was detected in
the controller.
status failure. Check the short-circuit and improper
connection of the peripheral equipment
wiring.
Expansion I/O connectors)
Replace the controller.
A interruption error was detected in the
controller.
Check the short-circuit and improper
connection of the peripheral equipment
wiring.
Expansion I/O connectors)
Replace the controller.
The robot over speed was detected
during low power mode.
Check
(Smoothness,
motion, loose belt tension, brake)
Check whether the robot does not
interfere with peripheral equipment.
(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)
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.
(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.
Remedy
(Emergency, D-I/O, and
(Emergency, D-I/O, and
the robot mechanism.
backlash, non-smooth
(Emergency, D-I/O, and
the robot mechanism.
backlash, non-smooth
(Emergency, D-I/O, and
Note 1 Note 2
RC180 Rev.17