Epson RC90 - Page 177

Maintenance 9. Troubleshooting
No.
Message
Remedy
Note 1
Note 2
4100
Communication error in motion
control module.
Cannot calculate
the current point or pulse.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4101
Communication error in the motion
control module.
Cannot calculate
the current point or pulse.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4103
Initialization failure. Motion control
module initialization error.
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
4104
Positioning timeout of the joint
connected to the Pulse Generator
Board.
Cannot receive
the positioning
completion signal (DEND) from the
servo motor connected to Pulse
Generator Board.
4105
EMERGENCY connector connection
failure.
4106 Drive unit failure.
4150
Redundant input signal failure of the
emergency stop.
The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Check whether no disconnection, earth
fault, or short-circuit of the emergency
stop input signal exits. Then reboot the
controller.
4151
Redundant input signal failure of the
safeguard.
The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Check
whether no disconnection, earth
fault, or short-circuit of the emergency
stop input signal exits. Then reboot the
controller.
4152
Relay welding error of the main
circuit.
A relay welding error was detected due to
power system over current.
Replace the controller.
Replace the robot.
4153
Redundant input signal failure of the
enable switch.
The input status of the redundant enable
signal differs continuously for more than
two seconds.
Check the TP connector connection.
Replace the TP.
Replace the controller.
4154
Temperature of regeneration resistor
was higher than the specified
temperature.
Robot’s Duty is too high. Lengthen the
waiting time or reduce the Accel value.
If the error occurs although Duty was
lowered, replace the DPB board.
4180
Manipulator initialization failure.
Specified manipulator was is not
found.
4181
Manipulator initialization failure.
Specified manipulator was in use by
another task.
4182
Manipulator initialization failure.
Manipulator name is too long.
4183
Manipulator initialization failure.
Manipulator data version error.
4184
Manipulator initialization failure.
Duplication of single axis joint is
assigned.
RC90 (EPSON RC+ 7.0) Rev.4
161