Epson RC90 - Page 174

Maintenance 9. Troubleshooting
No. Message Remedy Note 1 Note 2
4026
Communication error within the
motion control module. Servo I/F
failure.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4028
Communication error within the
motion control module. Device
driver status failure.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4030
Buffer for the average torque
calculation has overflowed.
Shorten the time interval from Atclr
to Atrq.
Shorten the time interval from Atclr to
Atrq less than about two minutes.
4031
Cannot execute a motion command
when the motor is in the off state.
Turn the motor power ON and then
execute the motion command.
4032
Cannot execute a motion command
when one or more joints are in SFree
state.
Set all joints to the
SLock state and
execute the motion command.
4033
The specified command is not
supported for Pulse Generator Board
joints.
The specified command is not permitted
for the joints with Pulse Generator Board.
4034
Specified command is not supported
for this manipulator model.
Use the Jump3 and Jump3CP statements.
4035
Only the tool orientation was
attempted to be changed by the CP
statement.
Set a move distance between points.
Use the ROT modifier, SpeedR
statement, and AccelR statement.
4036
Rotation speed of tool orientation by
the CP statement is too fast.
Decrease the setting values for the
SpeedS and AccelS statements. Use the
ROT modifier, SpeedR statement, and
AccelR statement.
4037
The point attribute of the current and
target point
positions differ for
executing a CP control command.
Match the point attribute.
4038
Two point positions are too close to
execute the Arc statement.
Set the distance between points more
than 1μm.
4039
Three point positions specified by the
Arc statement are on a straight line.
Use the Move statement.
4041
Motion command was attempted to
the prohibited area at the backside of
the robot.
Check the robot motion range.
4042
Motion device driver failure.
Cannot detect the circular format
interruption.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4043
Specified command is not supported
for this manipulator model or this
joint type.
Remove the unsupported command from
the program
4044
Curve failure. Specified curve form
is not supported.
Create a Curve file again with the Curve
statement.
4045
Curve failure. Specified mode is not
supported.
Specify the Curve mode properly.
Create a Curve file again with the Curve
statement.
4046
Curve failure. Specified coordinate
number is out of the allowable range.
The number of the available coordinate
axes is 2, 3, 4, and 6. Create a Curve
file again with the Curve statement.
4047
Curve failure. Point data was not
specified.
Create a Curve file again with the Curve
statement.
4048
Curve failure. Parallel process was
specified before the point designation.
Create a Curve file again with the Curve
statement.
RC90 (EPSON RC+ 7.0) Rev.4
158