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Epson RC700 Manual Page 277

Robot controller.
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Also See for RC700
Manual - 274 pages
Manual - 66 pages

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No.
Message
SCARA robot cannot execute force
control if the Orientation property of
Base, Tool, Local, and FCS
objects, or V and W of the current
5814
command position are other than 0,
or if Tx_Enabled and Ty_Enalbed
are not False.
Check the parameters.
Force Trigger Object parameter is
out of the range.
5815
Note 1: Property
Note 2: Axis
Check the parameter.
Force Coordinate System Object
parameter is out of the range.
5816
Note 1: Property
Note 2: Axis
Check the parameter.
Force Monitor Object parameter is
out of the range.
5817
Note 1: Property
Note 2: Axis
Check the parameter.
Force motion restriction object
5818
parameter is out of the range.
Specified duration of FCKeep is out
5819
of the allowable range.
Check the duration.
Force control cannot resume from
5830
the pause. Abort the motion
command.
Cannot execute this command
5831
during force control.
Exit force control by FCEnd.
RC700 / RC700-A Rev.23
Remedy
Disable the enabled state of Tx
and Ty.
Set "0" to the Orientation property
or V and W of the current
command position for Base, Tool,
Local, and FCS objects.
Check the property of force
trigger object.
Check the property of force
coordinate system object.
Check the property of force
monitor object.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Check whether the specified
duration is 600 seconds or less.
Abort the motion.
Abort force control.
Execute FCEnd command.
Maintenance 9. Troubleshooting
Note 1
1:Number
2:Force Sensor
3:
CoordinateSyst
em
4:TriggerMode
5:Operator
6:Enabled
7:FMag_Axes
8:TMag_Axes
9:Polarity
10:UpperLevel
11:LowerLevel
12: UpperLevel
smaller than
LowerLevel
13:LPF_Enable
d
14:LPF_TimeCo
nstant
1:Number
2:Position
3:Orientation_M
ode
4:Orientation_U
VW
5:Orientation_R
obotLocal
1:Number
2:Force Sensor
3:CoordinateSy
stem
4:FMag_Axes
5:TMag_Axes
6:LPF_Enabled
7:LPF_TimeCon
stant
Note 2
1:Fx
2:Fy
3:Fz
4:Tx
5:Ty
6:Tz
7:Fmag
8:Tmag
1:X
2:Y
3:Z
or
1:U
2:V
3:W
265

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Rc700-a

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