Epson RC700 Manual page 258

Robot controller
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Maintenance 9. Troubleshooting
No.
Message
Over speed during low power
4241
mode was detected.
Improper acceleration reference
4242
was generated.
Improper speed reference was
4243
generated in high power mode.
The robot collides with itself.
4248
Please change the target position.
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
4252
occurred during the operation.
Because SpeedS is too big, the
4255
robot cannot pass elbow specific
posture
When a robot passed elbow
4256
specific posture, Stop or Pause
were carried out
The robot cannot pass Singularity
4257
Area of Elbow
246
Remedy
The robot over speed was detected
during low power mode.
Check the robot mechanism.
(Smoothness, backlash, non-smooth
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. (Emergency, D-I/O,
and 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 the robot mechanism.
(Smoothness, backlash, non-smooth
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. (Emergency, D-I/O,
and Expansion I/O connectors)
Set a relay point. Or change the
target point.
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.
Reduce the SpeedS value.
Do not execute Stop or Pause.
The robot cannot pass the elbow
singularity area.
To pass the elbow singularity area,
use SING_AVOID of
"AvoidSingularity".
Note 1
Note 2
RC700 / RC700-A Rev.23

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