Epson RC700 Manual page 272

Maintenance 9. Troubleshooting
No. Message
Collision was detected in Low
5058 power mode
(Detection of robot motion error)
5072 Servo alarm B.
Motor is overloaded. Decrease
5080
the duty and the Accel.
High temperature of the encoder.
5098 Decrease the duty. Check the
reduction gear unit of the robot.
High temperature of the motor
driver. Clean the controller fan
5099
filter. Check the ambient
temperature. Decrease the duty.
5112 Servo alarm C.
Failed to initialize the force control.
5501
Reboot the controller.
Force control calculation error.
5510
Reboot the controller.
260
Remedy
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 holding
a hand or long object that exceeds
the weight described in the
specifications.
- 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.
Check the hand weight and
correct it if necessary.
Joint #4 and 5 of 6-axis robot:
confirmed that torque saturation is
occurred.
If torque saturation is occurred:
change to hold in high power
mode.
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)"
Reboot the controller.
Lower the motion duty.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
Wait until the temperature of the
encoder decreases.
Lower the motion duty.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
Clean the cooling fan filter.
Lower the motion duty.
Check the Weight/Inertia setting.
Lower the ambient temperature.
Reboot the controller.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Note 1 Note 2
RC700 / RC700-A Rev.23