Epson RC180

Maintenance 8. Trouble Shooting
RC180 Rev.17
240
No. Message Remedy Note 1 Note 2
9701
Disconnection of the parallel encoder signal.
Check the signal cable connection or the
robot internal wiring.
Check the M/C cable signal.
Check the robot signal wiring. (Missing pin,
disconnection, short-circuit)
Replace the motor. (Encoder failure)
Replace the DMB. (Detection circuit failure)
Check
the connector connection in the
controller. (Loosening, connecting to the serial
encoder terminal on the DMB)
Check the model setting. (Improperly setting
of the parallel encoder)
Check the peripheral equipment wiring.
(Emergency and I/O)
9702
Motor
driver is not installed. Install the
motor driver. Check the DMB or the motor
driver.
Check whether the motor driver is mounted.
Check the model setting and hardware setting.
Replace the motor driver.
Replace the DMB.
9703
Initialization communication failure of
incremental encoder.
Check the signal
cable connection and the robot setting.
Check the model setting.
Replace the motor. (Encoder failure)
Replace the DMB.
9704
Initialization failure of absolute encoder.
Check
the signal cable connection or the
robot setting.
Check the model setting.
Replace the motor. (Encoder failure)
Replace the DMB.
9705
Encoder division setting failure.
Check the robot setting.
Check the model setting.
9706
Data failure at the absolute encoder
initialization.
Check the signal cable
connection, the controller, or the motor.
Replace the motor. (Encoder failure)
Replace the DMB.
Check the noise countermeasures.
9707
Absolute encoder multi-turn is beyond the
maximum range. Reset the encoder.
Reset the encoder.
Replace the motor. (Encoder failure)
9708
Position is out of the range.
Reset the encoder.
Reset the encoder.
Replace the DMB.
Replace the motor. (Encoder failure)
9709
No response from the serial encoder. Check
the signal cable connection, the motor, the
DMB, or the encoder IF board.
Check the model setting. (Improperly setting
of the parallel encoder model)
Check the signal cable connection.
Replace the DMB and encoder I/F board.
9710
Serial encoder initialization failure. Reboot
the controller. Check the motor, the DMB,
or the encoder IF board.
Check the robot configuration.
Check the signal cable.
Replace the DMB and encoder I/F board.
9711
Serial encoder communication failure.
Reboot the controller. Check the motor, the
DMB, or the encoder IF board.
Check the robot configuration.
Check the signal cable.
Replace the DMB and encoder I/F board.
9712
Servo CPU watchdog timer failure. Reboot
the controller.
Check the motor or the
DMB.
Replace the DMB.
Check the noise countermeasures.
9713
Current control circuit WDT failure. Reboot
the controller. Check the controller.
Check the power cable connection.
Check the 15V power supply and cable
connection.
Replace the DMB.
Check the noise countermeasures.
9715
Encoder is reset. Reboot the controller.
Reboot the controller.
9716
Power supply failure of the absolute encoder.
Replace the battery to a new one. Check
the robot internal wiring.
Reset the encoder.
Check the signal cable connection.
9717
Backup data failure of the absolute encoder.
Reset the encoder.
Reset the encoder.
Check the signal cable connection.