Epson RC90 - Page 180

Maintenance 9. Troubleshooting
No. Message Remedy Note 1 Note 2
4242
Improper acceleration reference was
generated.
You attempted to operate the robot with
the acceleration reference exceeding the
specified value.
For a CP motion, decrease the AccelS
value.
4243
Improper speed reference was
generated in high power mode.
The robot over speed was detected during
high power mode.
Check the
robot mechanism.
(Smoothness, backlash, non-smooth
motion, loose belt tension, brake)
Check whether the robot does not
interfere with peripheral equipment.
(Collision, contact)
Replace the motor driver.
Replace the motor. (Motor and encoder
failure)
Check the short-
circuit and improper
connection of the peripheral equipment
wiring. (Emergency, D-
I/O, and
Expansion I/O connectors)
4250
Arm reached the limit of motion
range during the operation.
Check whether a CP motion trajectory is
within the motion range.
4251
Arm reached the limit of XY motion
range specified by XYLim during the
operation.
Check the XYLim setting.
4252
Coordinate conversion error occurred
during the operation.
Check whether a CP motion trajectory is
within the motion range.
4261
The Arm reached the limit of motion
range in conveyor tracking.
Place the conveyor inside the moiton
range. Meanwhile, allow the tracking
range for the deceleration when switching
from tracking motion to non-tracking.
If error occurs during the shif
t from
tracking motion, it may be prevented by
increasing the accel speed to complete
the tracking motion.
4262
The Arm reached the limit of XY
motion range in conveyor tracking.
4263
The Arm reached the limit of pulse
motion range in conveyor tracking.
4267
Attempt to exceed the J4Flag attribute
without indication.
You attempted to exceed the J4Flag
attribute during motion without the
J4Flag indication.
Change the J4Flag for the target point.
4268
Attempt to exceed the J6Flag attribute
without indication.
You attempted to exceed the J6Flag
attribute during motion without the
J6Flag indication.
Change the J6Flag for the target point.
4269
Attempt to exceed the particular wrist
orientation attribute without
indication.
You attempted to exceed the particular
wrist orientation attribute during motion
without the Wrist indication.
Change the Wrist attribute for the target
point.
Change the target point to avoid a
particular wrist orientation.
4270
Attempt to exceed the particular arm
ori
entation attribute without
indication.
You attempted to exceed the particular
hand orientation attribute during motion
without the Hand indication.
Change the Hand attribute for the target
point.
Change the target point to avoid a
particular hand orientation.
RC90 (EPSON RC+ 7.0) Rev.4
164