Epson RC700 - Page 277

Maintenance 9. Troubleshooting
RC700 / RC700-A Rev.23 265
No.
Message
Remedy
Note 1
Note 2
5814
SCARA robot cannot execute force
control if the Orientation property of
Base, Tool, Local, and FCS
objects, or V and W of the current
command position are other than 0,
or if Tx_Enabled and Ty_Enalbed
are not False.
Check the parameters.
Disable the enabled state of Tx
and Ty.
Set “0” to the Orientation property
or V and W of the current
command position for Base, Tool,
Local, and FCS objects.
5815
Force Trigger Object parameter is
out of the range.
Note 1: Property
Note 2: Axis
Check the parameter.
Check the property of force
trigger object.
1:Number
2:Force Sensor
3:
CoordinateSyst
em
4:TriggerMode
5:Operator
6:Enabled
7:FMag_Axes
8:TMag_Axes
9:Polarity
10:UpperLevel
11:LowerLevel
12: UpperLevel
smaller than
LowerLevel
13:LPF_Enable
d
14:LPF_TimeCo
nstant
1:Fx
2:Fy
3:Fz
4:Tx
5:Ty
6:Tz
7:Fmag
8:Tmag
5816
Force Coordinate System Object
parameter is out of the range.
Note 1: Property
Note 2: Axis
Check the parameter.
Check the property of force
coordinate system object.
1:Number
2:Position
3:Orientation_M
ode
4:Orientation_U
VW
5:Orientation_R
obotLocal
1:X
2:Y
3:Z
or
1:U
2:V
3:W
5817
Force Monitor Object parameter is
out of the range.
Note 1: Property
Note 2: Axis
Check the parameter.
Check the property of force
monitor object.
1:Number
2:Force Sensor
3:CoordinateSy
stem
4:FMag_Axes
5:TMag_Axes
6:LPF_Enabled
7:LPF_TimeCon
stant
5818
Force motion restriction object
parameter is out of the range.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
5819
Specified duration of FCKeep is out
of the allowable range.
Check the duration.
Check whether the specified
duration is 600 seconds or less.
5830
Force control cannot resume from
the pause. Abort the motion
command.
Abort the motion.
5831
Cannot execute this command
during force control.
Exit force control by FCEnd.
Abort force control.
Execute FCEnd command.