Epson RC700 - Page 250

Maintenance 9. Troubleshooting
238 RC700 / RC700-A Rev.23
No. Message Remedy Note 1 Note 2
4001
Arm reached the limit of motion
range.
Check the point to move, current
point, and Range setting.
4002
Specified value is out of allowable
range.
Review the setting parameters.
The
parameter
causing the
error
4003
Motion device driver failure.
Communication error within the
motion control module.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4004
Motion device driver failure.
Event waiting error within the
motion control module.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4005
Current point position is above the
specified LimZ value.
Lower the Z axis. Increase the
specified LimZ value.
4006
Target point position is above the
specified LimZ value.
Lower the Z coordinate position of the
target point. Increase the specified
LimZ value.
4007
Coordinates conversion error.
The end/mid point is out of the
motion area. Jogging to the
outside of the motion area.
Check whether the coordinate out of
the motion range is not specified.
4008
Current point position or specified
LimZ value is out of motion range.
Change the specified LimZ value.
4009
Motion device driver failure.
Timeout error within motion control
module.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4010
Specified Local coordinate was not
defined.
Define the Local coordinate system.
Local
number
4011
Arm reached the limit of XY motion
range specified by XYLim
statement.
Check the area limited by the XYLim
statement.
4012
Upper limit value of Box is smaller
than the lower limit value.
Change the upper and lower limit
values.
Set the upper limit value to be larger
than the lower limit value.
4013
Motion control module internal
calculation error.
Calculation of the timing of Arch
motion failed. Perform either of the
following:
- Check and modify Arch parameter
- Disable Arch
4014 MCAL was not completed.
Execute MCal. Make sure the
MCOdr is set for the joint connected
to the PG board.
4016
SFree statement was attempted
for prohibited joint(s).
Due to robot mechanistic limitation,
setting some joint(s) to servo free
status is prohibited. Check the robot
specifications.
4018
Communication error within the
motion control module. Check
sum error.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4021
Point positions used to define the
Local are too close.
Set the distance between points more
than 1μm.
4022
Point coordinate data used to
define the Local is invalid.
Match the coordinate data for the
points to be specified.
4023
Cannot execute when the motor is
in the off state.
Turn the motor power ON and then
execute.