Maintenance 9. Troubleshooting
RC700 / RC700-A Rev.23 259
5054
Overload of the motor. Decrease
the motion duty and the Accel.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
5055
Overload of the motor. Decrease
the operation duty and the Accel.
Lower the motion duty.
Check the Weight/Inertia setting.
Check the robot. (Backlash, large
load, loose belt tension, brake)
5056
G sensor data has changed rapidly.
Check the control board.
Check the noise countermeasure.
Replace the control board.
5057
Collision was detected in High
power mode
(Detection of robot motion error)
Collision detection (detection of
robot motion error) was
functioned.
The following errors have
detected:
- Collision or contact of the robot
arm occurs.
- Torque saturation due to little
setting of Weight or Inertia.
- Torque saturation due to
combined motion of multiple joints
and throwing around the long
object.
- Torque saturation due to supply
voltage reduction.
- Error motion due to hardware
error or software malfunction.
Countermeasures:
Check the there is no collision or
contact of the robot arm and
change the arrangement to avoid
interfere.
Confirm that torque saturation is
occurred.
During torque saturation: check
the setting of Weight and Inertia
are properly and correct them if
necessary.
During combined motion: adjust
the acceleration and deceleration
to avoid torque saturation.
Check the power supply voltage
and correct them if necessary.
If other error occurs at the same
time, take a countermeasure for
that first.
Reference: EPSON RC+ 7.0
User’s Guide “6.18.10 Collision
Detection Function (Error
detection function of robot
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