Epson RC700 Manual page 271

No. Message
Overload of the motor. Decrease
5054
the motion duty and the Accel.
Overload of the motor. Decrease
5055
the operation duty and the Accel.
G sensor data has changed rapidly.
5056
Check the control board.
Collision was detected in High
5057 power mode
(Detection of robot motion error)
RC700 / RC700-A Rev.23
Remedy
Lower the motion duty.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
Lower the motion duty.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
Check the noise countermeasure.
Replace the control board.
Collision detection (detection of
robot motion error) was
functioned.
The following errors have
detected:
- Collision or contact of the robot
arm occurs.
- Torque saturation due to little
setting of Weight or Inertia.
- Torque saturation due to
combined motion of multiple joints
and throwing around the long
object.
- Torque saturation due to supply
voltage reduction.
- Error motion due to hardware
error or software malfunction.
Countermeasures:
Check the there is no collision or
contact of the robot arm and
change the arrangement to avoid
interfere.
Confirm that torque saturation is
occurred.
During torque saturation: check
the setting of Weight and Inertia
are properly and correct them if
necessary.
During combined motion: adjust
the acceleration and deceleration
to avoid torque saturation.
Check the power supply voltage
and correct them if necessary.
If other error occurs at the same
time, take a countermeasure for
that first.
Reference: EPSON RC+ 7.0
User's Guide "6.18.10 Collision
Detection Function (Error
detection function of robot
motion)"
Maintenance 9. Troubleshooting
Note 1 Note 2
259