Epson RC700 - Page 258

Maintenance 9. Troubleshooting
246 RC700 / RC700-A Rev.23
No. Message Remedy Note 1 Note 2
4241
Over speed during low power
mode was detected.
The robot over speed was detected
during low power mode.
Check the robot mechanism.
(Smoothness, backlash, non-smooth
motion, loose belt tension, brake)
Check whether the robot does not
interfere with peripheral equipment.
(Collision, contact)
Replace the motor driver.
Replace the motor. (Motor and
encoder failure)
Check the short-circuit and improper
connection of the peripheral
equipment wiring. (Emergency, D-I/O,
and Expansion I/O connectors)
4242
Improper acceleration reference
was generated.
You attempted to operate the robot
with the acceleration reference
exceeding the specified value.
For a CP motion, decrease the
AccelS value.
4243
Improper speed reference was
generated in high power mode.
The robot over speed was detected
during high power mode.
Check the robot mechanism.
(Smoothness, backlash, non-smooth
motion, loose belt tension, brake)
Check whether the robot does not
interfere with peripheral equipment.
(Collision, contact)
Replace the motor driver.
Replace the motor. (Motor and
encoder failure)
Check the short-circuit and improper
connection of the peripheral
equipment wiring. (Emergency, D-I/O,
and Expansion I/O connectors)
4248
The robot collides with itself.
Please change the target position.
Set a relay point. Or change the
target point.
4250
Arm reached the limit of motion
range during the operation.
Check whether a CP motion trajectory
is within the motion range.
4251
Arm reached the limit of XY motion
range specified by XYLim during
the operation.
Check the XYLim setting.
4252
Coordinate conversion error
occurred during the operation.
Check whether a CP motion trajectory
is within the motion range.
4255
Because SpeedS is too big, the
robot cannot pass elbow specific
posture
Reduce the SpeedS value.
4256
When a robot passed elbow
specific posture, Stop or Pause
were carried out
Do not execute Stop or Pause.
4257
The robot cannot pass Singularity
Area of Elbow
The robot cannot pass the elbow
singularity area.
To pass the elbow singularity area,
use SING_AVOID of
“AvoidSingularity”.