!"
9&=
User action: Turn on Arm Power; reduce the speed and/or acceleration for the
motion that was in progress or for motions that preceded that
motion; and repeat the motion that failed.
*Encoder fault* (–1025)
Explanation: The servo board has detected a broken encoder wire on the indi-
cated axis.
User Action: Inspect the encoder wiring for intermittent connections or broken
wires. Try swapping the encoder cable with another. You can disable
this error with the SPEC utility, but do so only as a last resort.
* E-STOP from MMSP* Code n (–1111)
Because these message codes are related to hardware, refer to your
Robot Instruction Handbook as your primary source of information.
If it does not answer your questions, contact Adept Customer Ser-
vice. The following table summarizes information about the codes.
*Hard envelope error* Mtr n (–1027)
Explanation: The indicated motor was not tracking the commanded position with
sufficient accuracy, indicating a failure in the hardware servo system
or something impeding the path of the robot. Because this is consid-
ered a serious error, high power was turned off.
User Action: Turn on high power and try to perform the motion at a slower
speed. Make sure that nothing is obstructing the robot’s motion. If
the error recurs, contact Adept Customer Service.
*Encoder quadrature error* Belt n (–1013)
Explanation: The position encoder signal from the specified conveyor belt is
sending information that is not phased correctly. The encoder or its
Table E-1. MMSP External E-STOP Error Message Codes
Code n Explanation
0 Adept E-stop, channel 1 error
1 Adept E-stop, channel 2 error
2 Customer E-stop, channel 1 error
3 Customer E-stop, channel 2 error
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