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Epson RC700 Manual Page 273

Robot controller.
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No.
Message
Coordinate transformation error in
force control.
5511
Check whether the robot moves
outside of the motion range.
Impedance parameter error.
5520
Check the combination of Mass,
Damper, and Spring
The coordinate system mode other
than the custom mode is specified
for the Force Sensor which is not
5521
associated with the robot.
Check configuration of the Force
Sensor or the coordinate system
mode.
Undefined data is selected.
5522
Check if the selected data is
defined.
The parameter which cannot be
continued when the CF continues
force control is specified.
5523
Check the Force Control Object
and the Force Coordinate System
Object.
The specified time has passed after
resetting the Force Sensor.
5530
Execute the Reset property of the
Force Sensor Object.
Approached the singularity point
while executing force control.
5531
Avoid the singularity point when
using force control.
Buffer for Force Sensor averaging
is saturated.
5532
Shorten the time interval from
AvgForceClear to AvgForce.
continuing
The
execute force control has passed.
5533
To continue force control, use
FCKeep.
SCARA robot cannot execute force
control if the Orientation property of
Base, Tool, Local, and FCS
5535
objects, or V and W of the current
command position are other than 0.
Check the parameters.
Force control is not supported for
this robot model.
5536
Check the robot model and the
controller firmware version.
RC700 / RC700-A Rev.23
Remedy
Check whether the coordinate out
of the motion range is specified.
Check whether the robot moves
outside of the motion range
during the execution of force
control.
Check the combination of Spring,
Damper, and Mass. Check
whether the Mass property is too
small for the Damper property.
Check association with the robot.
Check if the direction other than
the Custom coordinate is
specified for the Orientation
property of the force coordinate
system object for the sensor
which is not associated with the
robot.
Check if the specified parameter
is defined.
Check the force control object
and the force coordinate object
which are used by the motion
commands before and after
continuing the force control by the
CF parameter.
Execute the Reset property for
the Force Sensor object.
Check whether the coordinates
near the singularity is specified.
Check whether the robot moves
to the vicinity of the singularity
during the execution of force
control. Or, review the
installation position of the robot.
Shorten the time interval between
AvgForceClear and AvgForce to
be shorter than a minute.
time for CF to
Check whether the interval of the
motion commands is one minute
or less.
Set "0" to the Orientation property
or V and W of the current
command position for Base, Tool,
Local, and FCS objects.
Check if the specified robot is
correct.
Check if the Controller firmware
supports the robot model.
Maintenance 9. Troubleshooting
Note 1
Note 2
261

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