Epson RC90 - Page 173

Maintenance 9. Troubleshooting
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.
4013
Motion control module internal
calculation error.
4014 MCAL was not completed.
Execute MCal. Make sure the MCOdr
is set for the joint connected to the Pulse
Generator 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.
4024
Cannot complete the arm positioning
using the current Fine specification.
Check whether the robot
does not
generate vibration or all parts and screws
are secured firmly. Increase the Fine
setting value.
4025
Cannot execute a motion command
during emergency stop condition.
Clear the emergency stop condition and
execute the motion command.
RC90 (EPSON RC+ 7.0) Rev.4
157