Epson N6 Series - Page 85

Setup & Operation 5. Motion Range
N6 Rev.2 73
Error: 4066
If the arm motion of the Manipulator is operated with a motion which will interfere with
itself between the current position and the target position, “Error: 4066” occurs.
The error occurs in PTP motion and CP motion. “Error: 4066” occurs in the following
situations:
When the target position is inside the combination restriction area of joint angle
(Fig. 1: Green, Blue).
[Remedy] Change the target position and avoid “Error: 4066”.
N6-A1000**
Joint #2 angle
Joint #3 angle
[Unit: deg.]
N6-A850**R
Joint #2 angle
Joint #3 angle
[Unit: deg.]
Fig. 1: Combination restriction of joint angle