Epson RC90 - Page 176

Maintenance 9. Troubleshooting
No. Message Remedy Note 1 Note 2
4068
ROT modifier parameter was
specified for the CP motion command
without orientation rotation.
Delete the ROT from the CP motion
command.
4069
Specified ECP without selecting ECP
in CP statement.
Specify a valid ECP.
4070
Specified ECP number does not
match the ECP number used in curve
file creation.
Specify a valid ECP.
4071
Attempted motion command during
electromagnetic brake lock condition.
Release the electromagnetic brake
4072
Initialization failure. Hardware
monitor was not initialized.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4073
Orientation variation of adjacent point
is over 90 degrees.
Any of U, V, or W changes 90 degrees or
more. Change the point or the
orientation.
4074
Motor type does not match the current
robot setting.
Check whether the specified robot model
is connected.
4075
ECP Option is not active.
Enable the ECP option.
4076
Point positions used to define the
Plane are too close.
Set the distance between points more
than 1 μm.
4077
Point coordinate data used to define
the Plane is invalid.
Match the coordinate data for the points
to be specified.
4078
Only the additional ST axis was
attempted to be
changed by the CP
statement.
Use PTP motion commands in order to
move the additional axis only.
4079
Speed of additional ST axis by the CP
statement is too fast.
Reduce the set values of SpeedS and
AccelS.
4080
Cannot execute when the Enable
Switch is OFF.
Turn the Enable Switch ON and then
execute.
4081 Error was detected during operation.
Check the pulse output board.
Check the connection with the motor
driver.
Replace the pulse output board.
Replace the controller.
4082
Pulse Generator Board
error was
detected during operation.
Check the pulse output board.
Check the connection with the motor
driver.
Replace the pulse output board.
4083 MCAL did not complete in time.
Set PG parameter so that MCAL can
complete within 120 seconds.
4084
Limit Sensor error was detected
during operation.
Check the limit sensor.
4085 Failed to change to specified location.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4086
Cannot execute because it is not dry
run mode.
Change to the dry run mode and execute.
4087 Failed to format the playback file.
Check the amount of free space of the
computer.
Reboot the computer.
Reinstall the RC+.
Replace the computer.
4099
Servo error was detected during
operation.
RC90 (EPSON RC+ 7.0) Rev.4
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