ROBOT CONTROLLER

RC90 / RC90-B
(EPSON RC+ 7.0)
Rev.20 EM18XC3785F
ROBOT CONTROLLER RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
ROBOT CONTROLLER

RC90 / RC90-B
(EPSON RC+ 7.0)

Rev.20

Copyright © 2013-2018 SEIKO EPSON CORPORATION. All rights reserved.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 i

FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the robot controller.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.

WARRANTY
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):

1. Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1. If the robot system associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.

ii RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above
respective operating systems. In some cases, Windows refers generically to Windows
7, Windows 8, and Windows 10.

NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.

MANUFACTURER

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 iii

Before Reading This Manual
Do not connect the followings to the TP/OP port of RC90 / RC90-B. Connecting to the

NOTE

followings may result in malfunction of the device since the pin assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1


NOTE For RC90 / RC90-B, be sure to install the EPSON RC+ 7.0 to the development PC first,
then connect the development PC and RC90 / RC90-B with the USB cable.
If RC90 / RC90-B and the development PC are connected without installing the EPSON
RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears. If this wizard
appears, click the <Cancel> button.

Concerning the security support for the network connection:


NOTE

The network connecting function (Ethernet) on our products assumes the use in the local
network such as the factory LAN network. Do not connect to the external network such
as Internet.
In addition, please take security measure such as for the virus from the network connection
by installing the antivirus software.

Security support for the USB memory:


NOTE

Make sure the USB memory is not infected with virus when connecting to the Controller.

iv RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

Control System Configuration
This manual explains with the following combinations of Controllers and software.

Robot Controller RC90 with the following label attached:

Label Controller Software

RC90 EPSON RC+ 7.0

RC90 controller firmware

Ver.[Link] or later
Before Ver.7.0.1 !!!
EPSON RC+ 7.0
Ver.7.0.2 or later OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later.

Robot Controller RC90-B:

RC90-B controller firmware
Ver.[Link] or later
Before Ver.7.4.1 !!!
EPSON RC+ 7.0
Ver.7.4.2 or later OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.4.2 or later.
NOTE

 There is no label on RC90-B.

NOTE

 Manual PDF for this robot system is available from EPSON RC+ 7.0 Ver. 7.0.2

NOTE

 This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 v

vi RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Table of Contents

Safety
1. Safety 3

2. Conventions 3

3. Safety Precautions 4

Setup & Operation

1. Specifications 9
1.1 System Example ......................................................................................9
1.2 Standard Specifications .........................................................................10
1.3 Outer Dimensions ..................................................................................12

2. Part Names and Functions 13

2.1 Part Names ............................................................................................13
2.2 Functions ...............................................................................................13
2.3 LED ........................................................................................................15
2.4 Safety Features......................................................................................16

3. Installation 18
3.1 Unpacking ..............................................................................................18
3.2 Environmental Requirements ................................................................18
3.2.1 Environment ...............................................................................18
3.2.2 Installation ..................................................................................19
3.3 Power Supply .........................................................................................20
3.3.1 Specifications .............................................................................20
3.3.2 AC Power Cable.........................................................................21
3.3.3 M/C Power Cable .......................................................................22
3.4 Cable Connection ..................................................................................23
3.4.1 Typical Cable Connection ..........................................................24
3.4.2 Connecting Manipulator to Controller ........................................26
3.5 Noise Countermeasures ........................................................................28

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 vii

Table of Contents

4. Operation Mode (TEACH/AUTO/TEST) 29

4.1 Overview ................................................................................................ 29
4.2 Switch Operation Mode ......................................................................... 29
4.3 Program Mode (AUTO) ......................................................................... 30
4.3.1 What is Program Mode (AUTO)? .............................................. 30
4.3.2 Setup from EPSON RC+ 7.0 ..................................................... 30
4.4 Auto Mode (AUTO) ................................................................................ 31
4.4.1 What is Auto mode (AUTO)? ..................................................... 31
4.4.2 Setup from EPSON RC+ 7.0 ..................................................... 31
4.4.3 Setup from Control Device......................................................... 32

5. Development PC Connection Port 33

5.1 About Development PC Connection Port .............................................. 33
5.2 Precaution.............................................................................................. 34
5.3 Software Setup and Connection Check ................................................ 34
5.4 Disconnection of Development PC and Controller................................ 35

6. Memory Port 36
6.1 What is Controller Status Storage Function? ........................................ 36
6.2 Before Using Controller Status Storage Function ................................. 36
6.2.1 Precautions ................................................................................ 36
6.2.2 Adoptable USB Memory ............................................................ 36
6.3 Controller Status Storage Function ....................................................... 37
6.3.1 Controller Status Storage with Trigger Button ........................... 37
6.3.2 Load Data with EPSON RC+ 7.0 ............................................... 37
6.3.3 Transfer with E-mail ................................................................... 39
6.4 Details of Data ....................................................................................... 39

7. LAN (Ethernet Communication) Port 40

7.1 About the LAN (Ethernet Communication) Port .................................... 40
7.2 IP Address ............................................................................................. 40
7.3 Changing Controller IP Address ............................................................ 41
7.4 Connection of Development PC and Controller with Ethernet .............. 42
7.5 Disconnection of Development PC and Controller with Ethernet ......... 43

8. TP Port 44
8.1 What is the TP Port? ............................................................................. 44
8.2 Teach Pendant Connection ................................................................... 44

viii RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Table of Contents

9. EMERGENCY 45
9.1 Safety Door Switch and Latch Release Switch .....................................45
9.1.1 Safety Door Switch.....................................................................46
9.1.2 Latch Release Switch.................................................................46
9.1.3 Checking Latch Release Switch Operation ...............................47
9.2 Emergency Stop Switch Connection .....................................................48
9.2.1 Emergency Stop Switch .............................................................48
9.2.2 Checking Emergency Stop Switch Operation ............................48
9.2.3 Recovery from Emergency Stop ................................................48
9.3 Pin Assignments ....................................................................................49
9.4 Circuit Diagrams ....................................................................................50
9.4.1 Example 1: External emergency stop switch typical application50
9.4.2 Example 2: External safety relay typical application..................51

10. Standard RS-232C Port 52

10.1 About the RS-232C Port ......................................................................52
10.2 Confirmation with EPSON RC+ 7.0 .....................................................52
10.3 RS-232C Software Communication Setup (RS-232C) .......................53
10.4 Communication Cable (RS-232C) .......................................................53

11. I/O Connector 54

11.1 RC90 (I/O Connector) ..........................................................................55
11.1.1 Input Circuit (RC90) .................................................................55
11.1.2 Output Circuit (RC90)...............................................................57
11.2 RC90-B (I/O Connector) ......................................................................60
11.2.1 Input Circuit (RC90-B) ..............................................................60
11.2.2 Output Circuit (RC90-B) ...........................................................62
11.3 Pin Assignments ..................................................................................64

12. I/O Remote Settings 65

12.1 I/O Signal Description ..........................................................................66
12.1.1 Remote Input Signals ...............................................................66
12.1.2 Remote Output Signals ............................................................70
12.2 Timing Specifications ...........................................................................73
12.2.1 Design Notes for Remote Input Signals...................................73
12.2.2 Timing Diagram for Operation Execution Sequence ...............73
12.2.3 Timing Diagram for Program Execution Sequence .................73
12.2.4 Timing Diagram for Safety Door Input Sequence ....................74
12.2.5 Timing Diagram for Emergency Stop Sequence .....................74
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 ix
Table of Contents

13. Option Slots 75

13.1 About Option Slots............................................................................... 75
13.2 Expansion I/O Board ........................................................................... 75
13.2.1 About Expansion I/O Board ..................................................... 75
13.2.2 Board Configuration (Expansion I/O)....................................... 75
13.2.3 Confirmation with EPSON RC+ 7.0 ......................................... 76
13.2.4 Input Circuit .............................................................................. 76
13.2.5 Output Circuit ........................................................................... 78
13.2.6 Pin Assignments ...................................................................... 81
13.3 Fieldbus I/O Board............................................................................... 82
13.4 RS-232C Board ................................................................................... 82
13.4.1 About the RS-232C Board ....................................................... 82
13.4.2 Board Setup ............................................................................. 82
13.4.3 Confirmation with EPSON RC+ 7.0 (RS-232C) ...................... 83
13.4.4 RS-232C Software Communication Setup (RS-232C)............ 83
13.4.5 Communication Cable (RS-232C) ........................................... 84
13.5 Analog I/O Board ................................................................................. 85
13.5.1 About Analog I/O Board ........................................................... 85
13.5.2 Board Configuration (Analog I/O Board) ................................. 86
13.5.3 Confirmation with EPSON RC+ (Analog I/O Board)................ 89
13.5.4 Input Circuit (Analog I/O Board) .............................................. 90
13.5.5 Output Circuit (Analog I/O Board)............................................ 90
13.5.6 Pin Assignments (Analog I/O Board) ....................................... 91
13.6 EUROMAP67 Board ............................................................................ 92
13.6.1 Notes on the EUROMAP67 Board .......................................... 93
13.6.2 Board Settings (EUROMAP67 Board) ..................................... 95
13.6.3 Installation (EUROMAP67 Board) ........................................... 95
13.6.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board) ....... 97
13.6.5 Sample Project (EUROMAP67 Board) .................................... 97
13.6.6 Circuit Overview (EUROMAP67 Board) .................................. 98
13.6.7 Input Circuit (EUROMAP67 Board) ......................................... 99
13.6.8 Output Circuit (EUROMAP67 Board) ...................................... 99
13.6.9 Emergency Stop, Safeguard (EUROMAP67 Board) ............. 100
13.6.10 I/O Pin Assignments (EUROMAP67 Board)........................ 101
13.6.11 Emergency stop connecter Pin Assignments
(EUROMAP67 Board).......................................................... 102

x RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Table of Contents

Maintenance
1. Safety Precautions on Maintenance 105
1.1 Safety Precautions.............................................................................. 105
1.2 Lockout / Tagout ................................................................................. 106

2. Regular Maintenance Inspection 108

3. Controller Structure 109

3.1 Location of Parts ................................................................................. 109
3.1.1 RC90 (for LS3, LS6)................................................................ 109
3.1.2 RC90 (for LS20) ...................................................................... 109
3.1.3 RC90-B (for LS6-B) ................................................................. 110
3.1.4 RC90-B (for LS10-B) ............................................................... 110
3.2 Diagram of Cable Connections........................................................... 111
3.2.1 RC90 (for LS3, LS6), RC90-B( for LS6-B) .............................. 111
3.2.2 RC90 (for LS20), RC90-B (for LS10-B) .................................. 112

4. Backup and Restore 113

4.1 What is the Backup Controller Function? ........................................... 113
4.2 Backup Data Types ............................................................................ 113
4.3 Backup ................................................................................................ 114
4.4 Restore ............................................................................................... 115

5. Firmware Update 117

5.1 Updating Firmware ............................................................................. 117
5.2 Firmware Upgrade Procedure ............................................................ 117
5.3 Controller Recovery ............................................................................ 120
5.4 Firmware Initialization Procedure ....................................................... 121

6. Alarm 123
6.1 Before Controller Firmware Ver.7.1.8.x .............................................. 124
6.1.1 Alarm Configuration ................................................................ 124
6.1.2 How to View the Alarm Information ........................................ 125
6.1.3 How to Edit the Alarm Information .......................................... 126
6.1.4 Alarm Notifying Method ........................................................... 126
6.1.5 How to Cancel the Alarm ........................................................ 127
6.2 Controller Firmware Ver.7.2.0.x or later ............................................. 128
6.2.1 Maintenance ............................................................................ 128

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 xi

Table of Contents

6.2.2 How to View the Maintenance Information .............................. 129

6.2.3 How to Edit the Maintenance Information ............................... 131
6.2.4 Alarm Notifying Method ........................................................... 132
6.2.5 How to Cancel the Alarm ......................................................... 132

7. Maintenance Parts Replacement Procedures 133

7.1 Fan Filter..............................................................................................134
7.2 Fan .......................................................................................................135
7.3 Battery .................................................................................................136
7.4 CF (Compact Flash) ............................................................................ 138
7.5 MDB .....................................................................................................139
7.6 DMB .....................................................................................................141
7.7 DMB Sub Board ...................................................................................145
7.8 DPB......................................................................................................146
7.9 Option Board........................................................................................148

8. Verifying Robot System Operation 150

9. Troubleshooting 151
9.1 Error Code Table .................................................................................151
9.2 Cannot Connect the Development PC and the Controller using the USB
cable ....................................................................................................272
9.2.1 Confirmation Using Windows Device Manager ....................... 273
9.2.2 When recognized under “Other devices”
in Windows Device Manager ................................................... 275

10. Maintenance Parts List 276

For RC90 ......................................................................................................276
For RC90-B ..................................................................................................277
For RC90 / RC90-B ......................................................................................277
Option ...........................................................................................................277

xii RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

Safety
This section contains information for safety
of the Robot System.
 Safety 1. Safety

1. Safety
Installation and transportation of robots and robotic equipment shall be performed by
qualified personnel and should conform to all national and local codes.
Please read this manual and other related manuals before installing the robot system or
before connecting cables. Keep this manual in a handy location for easy access at all
times.

2. Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.

This symbol indicates that a danger of possible serious injury or

death exists if the associated instructions are not followed properly.
WARNING

This symbol indicates that a danger of possible harm to people

caused by electric shock exists if the associated instructions are not
WARNING followed properly.

This symbol indicates that a danger of possible harm to people or

physical damage to equipment and facilities exists if the associated
CAUTION instructions are not followed properly.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 3

Safety 3. Safety Precautions

3. Safety Precautions
Only trained personnel should design and install the robot system.
Trained personnel are defined as those who have taken robot system training class held
by the manufacturer, dealer, or local representative company, or those who understand
the manuals thoroughly and have the same knowledge and skill level as those who have
completed the training courses.
The following items are safety precautions for qualified design or installation
personnel:

 Personnel who design and/or construct the robot system with this product must
read the Safety chapter in User’s Guide to understand the safety requirements
before designing and/or constructing the robot system. Designing and/or
constructing the robot system without understanding the safety requirements is
extremely hazardous, may result in serious bodily injury and/or severe equipment
damage to the robot system, and may cause serious safety problems.

 The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
designed and manufactured strictly for use in a normal indoor environment.
Using the product in an environment that exceeds the specified environmental
conditions may not only shorten the life cycle of the product but may also cause
serious safety problems.

 The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation requirements
WARNING may not only shorten the life cycle of the product but also cause serious safety
problems.

 The interlock of the Safety Door must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF. (I.E. the condition where the switch is disabled)
(Example: Tape is put around the switch to hold it closed.) Operating the robot
system when the switch is not functioning properly is extremely hazardous and
may cause serious safety problems as the Safety Door input cannot fulfill its
intended function.

 Connect input signal wires for Emergency Stop and Safety Door to the
EMERGENCY connector so that the Emergency Stop switch in the Teach
Pendant connected to the TP port always functions. (Refer to the typical
application diagram in Setup & Operation 9.4 Circuit Diagrams.)

4 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Safety 3. Safety Precautions

The following items are safety precautions for qualified design or installation
personnel: (cont.)

 Do not open the cover(s) of the Controller except while maintaining it. Opening
the cover(s) of the Controller is extremely hazardous and may result in electric
shock even when its main power is OFF because of the high voltage charge
inside the Controller.

 Make sure that the power to the Controller is turned OFF before connecting or
disconnecting any cables. Connecting or disconnecting any cables with the
power ON is extremely hazardous and may result in electric shock and/or
malfunction of the Controller.

 Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the
cables forcibly.) The unnecessary strain on the cables may result in damage to
WARNING the cables, disconnection, and/or contact failure. Damaged cables,
disconnection, or a contact failure is extremely hazardous and may result in
electric shock and/or improper function of the system.

 When connecting the plug to fit the outlet in your factory, make sure that it is done
by qualified personnel. When connecting the plug, be sure to connect the earth
wire of the AC power cable colored green/yellow on the Controller to the earth
terminal of the factory power supply. The equipment must be grounded properly
at all times to avoid the risk of electric shock. Always use a power plug and
receptacle. Never connect the Controller directly to the factory power supply.
(Field wiring)

 The serial number of the Manipulator that should be connected is indicated on

the Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
Manipulator may cause improper function of the robot system and also safety
problems.

 When using remote I/O, always make sure of the following. Using the robot
system under unsatisfactory conditions may cause malfunction of the system
and/or safety problems.
- Assign remote functions to inputs/outputs correctly and wire correctly when
CAUTION
setting up remote I/O signals.
- Make sure that the functions correspond to the correct input/output signals
before turning ON the system.
- When verifying the robot system operation, prepare for failures with initial
settings or wiring. If the Manipulator functions unusually by the failures with
initial settings or wiring, press the Emergency Stop switch immediately to stop
the Manipulator.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 5

Safety 3. Safety Precautions

The following items are safety precautions for qualified operator personnel:

 The interlock of the Safety Door must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF. (I.E. the condition where the switch is disabled)
(Example: Tape is put around the switch to hold it closed.) Operating the robot
WARNING system when the switch is not functioning properly is extremely hazardous and
may cause serious safety problems as the Safety Door input cannot fulfill its
intended function.

 Do not open the cover(s) of the Controller except while maintaining it. Opening
the cover(s) of the Controller is extremely hazardous and may result in electric
shock even when its main power is OFF because of the high voltage charge
WARNING
inside the Controller.

6 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

Setup & Operation
This section contains information for setup and operation
of the Robot Controller.
 Setup & Operation 1. Specifications

1. Specifications

1.1 System Example

PLC (Sequencer) Operation panel Motion Controller

RC90 / RC90-B
Standard Option
Standard I/O Fieldbus
Remote I/O PROFIBUS-DP
Ethernet DeviceNet
RS-232C CC-Link
EtherNet/IP
PROFINET
EtherCAT
PG Board Expansion I/O Board

AnalogI/O Board RS-232C Board

EUROMAP67 Board

LS / LS-B series
USB 2.0
or
Ethernet
PC

TP1
(Option)
Windows *1

EPSON RC+ 7.0

TP2
Software
(Option)

Option

*1 EPSON RC+ 7.0 supports the following OS

Windows 7 Professional Service Pack 1
Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later)
Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later) Requires preparation
by users

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 9

Setup & Operation 1. Specifications

1.2 Standard Specifications

Item Specification
Model Robot Controller RC90 / RC90-B
CPU 32 bits Micro Processor
Controllable axes 4 AC servo motors
Programming
language and EPSON RC+ 7.0 (multi-tasking robot language)
Robot control Ver.7.0.2 or later is recommended.
software
Up to 4 joints simultaneous control
Joint Control
Software AC servo control
Robot manipulator PTP motion : Programmable in the range of
control 1 to 100%
Speed Control
CP motion : Programmable (Actual value
to be manually entered.)
PTP motion : Programmable in the range of
Acceleration/
1 to 100%; Automatic
deceleration
CP motion : Programmable (Actual value
control
to be manually entered.)
PTP (Point-To-Point control)
Positioning control
CP (Continuous Path control)
Maximum Object Size : 4 MB
Point data area : 1000 points (per file)
Memory capacity Backup variable area : Max. 100 KB (Includes the memory area for
the management table.)
Approx. 1000 variables (Depends on the size
of array variables.)
Remote
Teaching method Direct
MDI (Manual Data Input)
Including 8 inputs,
External 8 outputs with remote
Input : 24
input/output Standard I/O function assigned
signals (standard) Output : 16 Assignment change
allowed
Communication
interface (standard) Ethernet 1 channel

RS-232C port 1 port

10 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 1. Specifications

Item Specification
Input : 24 per board Addition of
Expansion I/O 2 boards allowed
Output : 16 per board
Addition of
RS-232C : 2ch per board 2 boards allowed
Communication Fieldbus I/O : 1ch per board
PROFIBUS-DP, Addition of
interface DeviceNet, CC-Link, 1 board from the left
Options EtherNet/IP, PROFINET, allowed
(Max. 2 slots) EtherCAT
Controllable joints Addition of
PG
4 joints/board 2 board allowed
SKU1 Output: 1ch Addition of
Analog I/O Output: 2ch 2 board from the left
SKU2 allowed
Input: 2ch
Input : 15 Addition of
EUROMAP67
Output : 16 1 board allowed
- Emergency stop switch
- Safety door input
- Low power mode
- Dynamic brake
- Motor overload detection
- Irregular motor torque (out-of-control Manipulator) detection
- Motor speed error detection
- Positioning overflow - servo error - detection
Safety features - Speed overflow - servo error - detection
- CPU irregularity detection
- Memory check-sum error detection
- Overheat detection at the Motor Driver Module
- Relay welding detection
- Over-voltage detection
- AC power supply voltage reduction detection
- Temperature error detection
- Fan error detection
200 VAC to 240 VAC
Power Source
Single phase 50/60 Hz
Maximum Power
2.5 kVA (Depending on the Manipulator model)
Consumption
Insulation Resistance 100 MΩ or more
Rated Ambient
5 to 40 deg.C
Temperature
Rated Relative Humidity 20% to 80% (with no condensation)
Weight *1 7.5 kg

*1 Weight of the unit is indicated on the Controller itself.

Make sure to check the weight before units transfer or relocation and prevent throwing out your back
at holding the unit.
Also, make sure to keep your hands, fingers, and feet safe from being caught or serious injury.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 11

Setup & Operation 1. Specifications

1.3 Outer Dimensions

[Unit : mm]

12 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 2. Part Names and Functions

2. Part Names and Functions

2.1 Part Names

(8) (4) (18)

(Left side)
(5)
(1)

(3) (19)

(2)
(17)
(19)

(7) (9) (10) (11) (12) (13) (14) (15) (16) (6)
NOTE

 Illustration is RC90. Part names and functions of RC90 and RC90-B are the same.

2.2 Functions
(1) POWER switch
Turns ON or OFF the Controller.

(2) AC IN
The terminal block for 200VAC power input.
For details, refer to Setup & Operation 3.3.2 AC Power Cable.

(3) LED
The LED indicates current operation mode (ERROR, E-STOP, TEACH, AUTO, or
PROGRAM mode). For details, refer to Setup & Operation 2.3 LED.

(4) Fan Filter

A protective filter is installed in front of the fan to filter out dust.
Check the condition of the filter regularly and clean it when necessary. A dirty filter
may result in malfunction of the robot system due to temperature rise of the
Controller.

(5) Signature label

The serial number of the Controller and other information are shown.

(6) Controller Number label

The serial number of the Controller is indicated.

(7) Connection Check label MANIPULATOR

The details of the Manipulator to be connected are recorded on
the label as shown in the right. The label indicates the LS3-401S 00002
Manipulator model and Manipulator serial number.

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Setup & Operation 2. Part Names and Functions

(8) M/C POWER connector

A connector for the Manipulator power source.
Connect the dedicated power cable attached to the Manipulator.

(9) M/C SIGNAL connector

This connector is used for signals such as the manipulator’s motor position detector,
etc. Connect the Manipulator’s dedicated signal cable.

(10) EMERGENCY connector

This connector is used for input/output from/to Emergency Stop and Safety Door
switches. For details, refer to the Setup & Operation 9. EMERGENCY.

(11) TP port
Connects Teach Pendant TP1 (Option), TP2 (Option) and TP bypass plug. For
details, refer to Setup & Operation 8. TP Port.

NOTE Do not connect the following to the TP port of RC90 / RC90-B. Connecting to the

 followings may result in malfunction of the device since the pin assignments are
different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1

(12) Development PC connection port

This port connects the Controller and the Development PC using a USB cable.
Do not connect other devices except the Development PC.
For details, refer to Setup & Operation 5. Development PC Connection Port.

(13) Memory port

This port connects the common USB memory for Controller status storage function.
Do not connect other USB devices except the USB memory.
For details, refer to Setup & Operation 6. Memory Port.

(14) Trigger Switch

This switch is for Controller status storage function using the USB memory.
For details, refer to Setup & Operation 6. Memory Port.

(15) LAN (Ethernet communication) port

This port connects the Controller and the Development PC using an Ethernet cable.
100BASE-TX / 10BASE-T communication are available.
For details, refer to Setup & Operation 7. LAN (Ethernet communication) Port.

(16) I/O connector

This connector is used for input/output device. There are 24 inputs and 16 outputs.
For details, refer to Setup & Operation 11. I/O Connector.

(17) Standard RS-232C port

This port is used for the RS-232C communication with external devices.
For details, refer to Setup & Operation 10. Standard RS-232C Port.

14 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 2. Part Names and Functions

(18) Option slot

Option boards such as expansion I/O board, Fieldbus I/O board, RS-232C board, PG
board, Analog I/O board can be installed. Two slots are available.
For details, refer to Setup & Operation [Link] Slots.

(19) Cable Clamp

This can be used to secure the M/C Power Cable and the AC Power cable.

(20) Battery (Mounted inside the controller)

This is a lithium battery for data backup.

2.3 LED
Five LEDs are located on the front panel of the Controller.
LEDs (ERROR, E-STOP, TEACH, AUTO, PROGRAM) turn ON according to the
controller status (error, Emergency Stop, TEACH mode, Auto mode, Program mode).

From turning ON the Controller to completing startup

Three LEDs (TEACH, AUTO, PROGRAM) blink.

After Controller Startup

Controller status LED display
Execute Controller status
storage function to the TEACH AUTO, PROGRAM blink.
USB memory
TEACH, AUTO, PROGRAM turn ON
Complete Controller status
(for 2 seconds).
storage to USB memory
ERROR turns OFF even if an error occurs.
Failure of Controller status ERROR, TEACH, AUTO, PROGRAM turn ON
storage to USB memory (for 2 seconds).
Error ERROR turns ON
Warning ERROR blinks.
Emergency Stop E-STOP turns ON.
TEACH mode TEACH blinks.
Auto mode (AUTO mode) AUTO blinks.
Program mode (AUTO mode) PROGRAM blinks.
Recovery mode ERROR, TEACH, PROGRAM turn ON.
AC power supply drop TEACH, AUTO turn ON.
Test mode TEACH blinks.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 15

Setup & Operation 2. Part Names and Functions

2.4 Safety Features

The robot control system supports safety features described below. However, it is
recommended to strictly follow the proper usage of the robot system by thoroughly
reading the attached manuals before using the system. Failure to read and understand
the proper usage of the safety functions is highly dangerous.
Among the following safety features, the Emergency Stop Switch and Safety Door Input
are particularly important. Make sure that these and other features function properly
before operating the robot system.
For details, refer to the Setup & Operation 9. EMERGENCY.

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop input
terminals used for connecting the Emergency Stop switches.
Pressing any Emergency Stop switch can shut off the motor power immediately and the
robot system will enter the Emergency Stop condition.

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is connected
to the EMERGENCY connector at the Controller.
When the safety door is opened, normally the Manipulator immediately stops the current
operation, and the status of Manipulator power is operation-prohibited until the safety
door is closed and the latched condition is released. In order to execute the
Manipulator operation while the safety door is open, you must change the mode selector
key switch on the Teach Pendant to the “Teach” mode. Manipulator operation is
available only when the enable switch is on. In this case, the Manipulator is operated in
low power status.

Low Power Mode

The motor power is reduced in this mode.
Executing a power status change instruction will change to the restricted (low power)
status regardless of conditions of the safety door or operation mode. The restricted
(low power) status ensures the safety of the operator and reduces the possibility of
peripheral equipment destruction or damage caused by careless operation.

Dynamic Brake
The dynamic brake circuit includes relays that short the motor armatures. The dynamic
brake circuit is activated when there is an Emergency Stop input or when any of the
following errors is detected: encoder cable disconnection, motor overload, irregular
motor torque, motor speed error, servo error (positioning or speed overflow), irregular
CPU, memory check-sum error and overheat condition inside the Motor Driver Module.

Motor Overload Detection

The dynamic brake circuit is activated when the system detects that the load on the
motor has exceeded its capacity.

Irregular Motor Torque (out-of-control manipulator) Detection

The dynamic brake circuit is activated when irregularity with motor torque (motor
output) is detected (in which case the Manipulator is out of control).

16 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 2. Part Names and Functions

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is running
at incorrect speed.

Positioning Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference
between the Manipulator’s actual position and commanded position exceeds the margin
of error allowed.

Speed Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the Manipulator’s actual speed is detected
to mark an overflow (the actual speed is outside the nominal range) error.

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer. The
system CPU and the motor controlling CPU inside the Controller are also designed to
constantly check each other for any discrepancies. If a discrepancy is detected, the
dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is detected.

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device inside
the Motor Driver module is above the nominal limit.

Relay Deposition Detection

The dynamic brake circuit is activated when relay deposition, junction error, or open
fault is detected.

Over-Voltage Detection
The dynamic brake circuit is activated when the voltage of the Controller is above the
normal limit.

AC Power Supply Voltage Drop Detection

The dynamic brake circuit is activated when the drop of the power supply voltage is
detected.

Temperature Anomaly Detection

The temperature anomaly is detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 17

Setup & Operation 3. Installation

3. Installation
3.1 Unpacking
TP/OP Bypass Plug 1 unit
EMERGENCY Port Connector 1 set
Connector for Standard I/O or Connector for I/O Port 1 set
MDB Clamp for Upright Mounting / Rack-Mount Plate 1 set

3.2 Environmental Requirements

■ The Manipulator and the Controller must be used within the environmental
conditions described in their manuals. This product has been designed and
manufactured strictly for use in a normal indoor environment. Using the product
WARNING in the environment that exceeds the conditions may not only shorten the life cycle
of the product but also cause serious safety problems.

3.2.1 Environment
In order to optimize the robot system’s performance for safety, the Controller must be
placed in an environment that satisfies the following conditions:
- The Controller is not designed for clean-room specification. If it must be installed in
a clean room, be sure to install it in a proper enclosure with adequate ventilation and
cooling.
- Install Controller in a location that allows easy connection / disconnection of cables.

Item Condition
Ambient temperature 5 to 40 deg.C (with minimal variation)
Ambient relative
20% to 80% (with no condensation)
humidity
First transient burst noise 2 kV or less (Power supply wire)
1 kV or les (Signal wire)
Electrostatic noise 4 kV or less
Base table Use a base table that is at least 100 mm off the floor.
Placing the Controller directly on the floor could allow
dust penetration leading to malfunction.

If the Controller must be used in an environment that does not fulfill the conditions
mentioned above, take adequate countermeasures. For example, the Controller may be
enclosed in a cabinet with adequate ventilation and cooling.
- Install indoors only.
- Place in a well-ventilated area.
- Keep away from direct sunlight and radiation heat.
- Keep away from dust, oily mist, oil, salinity, metal powder or other contaminants.
- Keep away from water.
- Keep away from shocks or vibrations.
- Keep away from sources of electronic noise
- Keep away from strong electric or magnetic fields.

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 Setup & Operation 3. Installation

3.2.2 Installation
Install the controller on a flat surface such as wall, floor, and controller box in the
direction shown from (A) to (C).

(A) Flat Mounting

(B) Upright Mounting (C) Rack Mounting

* The rubber foot needs to be replaced. * Rack-mount plate is required.

NOTE For installing the Controller to the Controller box or the base table, process screw holes as

 follows.

463 mm

133.35 mm

Ensure the draft around the in/out and prevent the other equipments, walls and install the
Controller by keeping the distance as follows for maintenance.

200 mm
Air flow of the Controller Fan

100 mm

50 mm 50 mm

100 mm
Excluding the installation
side such as base table

- Hot air with higher temperature than the ambient temperature (about 10 deg.C) comes
out from the Controller. Make sure that heat sensitive devices are not placed near the
outlet.
- Arrange the cables in front of the Controller so that you can pull the Controller forward.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 19

Setup & Operation 3. Installation

3.3 Power Supply

3.3.1 Specifications
Ensure that the available power meets following specifications.
Item Specification
Voltage 200 to 240 VAC
Input voltage should be with in ±10 % of the rated voltage.
Phase Single phase
Frequency 50/60 Hz
Momentary Power
10 msec. Or less
Interrupt
Power Consumption Max. 2.5 kVA
Actual consumption depends on the model, motion, and load
of the Manipulator.
See the following for approximate rated consumption
LS3 : 1.0 kVA LS6 : 1.1 kVA LS20 : 2.4 kVA
LS6-B : 1.1 kVA LS10-B : 1.8 kVA
Refer to Manipulator manual for Manipulator rated
consumption.
Peak Current When power is turned ON : approximately 70 A (2 msec.)
When motor is ON : approximately 50 A (2 msec.)
Leakage Current Max. 10 mA
Ground Resistance 100 Ω or less
Install an earth leakage circuit breaker or a circuit breaker in the AC power cable line at
15 A or less rated electric current. Both should be a two-pole disconnect type. If you
install an earth leakage circuit breaker, make sure to use an inverter type that does not
operate by induction of a 10 kHz or more leakage current. If you install a circuit
breaker, please select one that will handle the above mentioned “peak current”.
The power receptacle shall be installed near the equipment and shall be easily accessible.

20 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 3. Installation

3.3.2 AC Power Cable

■ Make sure that operations are done by a qualified personal.

■ Be sure to connect the earth wire (green/yellow) of the AC power cable to the
earth terminal of the factory power supply. The equipment must be grounded
properly at all times to avoid the risk of electric shock.

WARNING ■ Always use a power plug or a disconnecting device for power connecting cable.
Never connect the Controller directly to the factory power supply.
■ Select the plug or a disconnecting device which conform safety standards for
nations.

Item Specification
Black, Black
AC power wire (2 cables)
or Black, White
Ground wire Green / Yellow
Cable length 3m
Terminal M4 round solderless terminal

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 21

Setup & Operation 3. Installation

3.3.3 M/C Power Cable

(1) Mount the M/C Power Cable as shown in the picture and
form the cables.

(2) Set the M/C Power Cable in the clamp for the M/C Power
Cable.

(3) Mount the cover for the M/C Power Connector.

(4) Secure the cover with the screw.

22 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 3. Installation

3.4 Cable Connection

■ Make sure that the power to the Controller is turned OFF and the power plug is
disconnected before connecting or disconnecting any cables. Connecting or
disconnecting any cables with the power ON is extremely hazardous and may
result in electric shock and malfunction of the Controller.
■ Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
WARNING
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the system.

■ The serial number of the Manipulator that should be connected is indicated on the
Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
Manipulator may cause not only improper function of the robot system but also
safety problems.
CAUTION
■ Before connecting the connector, make sure that the pins are not bent.
Connecting with the pins bent may damage the connector and result in
malfunction of the robot system.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 23

Setup & Operation 3. Installation

3.4.1 Typical Cable Connection

Detachable connector
Cable attached at shipping
Cable prepared by users

(1) AC Power Terminal Block

AC200V-240V
(2) M/C Power Connector *1

Manipulator
(3) M/C Signal Connector *1

(4) EMERGENCY Connector Emergency Stop

Safety Door, etc.
(5) Development PC Connection Port
Controller PC for Development
Connect by (5) or (7)
(6) USB Memory

(7) LAN (Ethernet Communication)

(8) I/O Connector

Input/Output Device
(9) TP Connector
Teach
(10) Standard RS-232C Connector Pendant

FieldBus I/O
Expansion I/O
Option RS-232C
PG board
Analog I/O
EUROMAP67
*1: Only LS-B series is detachable.

(1) AC Power terminal block

Terminal block for 200VAC power input to the Controller.

(2) M/C Power cable

The cable with 20-pin connector on the Controller side.
Connect the Manipulator and the M/C POWER connector on the Controller.
Insert the connectors until you hear a “click”.

(3) M/C Signal cable

The cable with 36-pin connector on the Controller side.
Connect the Manipulator and the M/C SIGNAL connector on the Controller.

(4) EMERGENCY
The EMERGENCY connector has inputs to connect the Emergency Stop switch
and the Safety Door switch. For safety reasons, connect proper switches for these
input devices.
For details, refer to the Setup & Operation 9. EMERGENCY.

24 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 3. Installation

(5) PC for development

Connect the PC for development.
For details, refer to the Setup & Operation 5. Development PC Port.

(6) USB memory

Connect the USB memory.
For details, refer to the Setup & Operation 6. Memory Port.

(7) LAN (EtherNet Communication)

Connect the EtherNet cable.
For details, refer to the Setup & Operation 7. LAN (Ethernet Communication) Port.

(8) I/O connector

This connector is used for input/output devices of the user.
When there are input/output devices, use this connector.
There are I/O cable (option) and terminal block (option) for the I/O connector.
For details, refer to the Setup & Operation 11. I/O Connector.

(9) TP cable
Connect the option Teach Pendant.
For details, refer to the Setup & Operation [Link] Port.

(10) Standard RS-232C port

This port is used for the RS-232C communication with external devices.
For details, refer to Setup & Operation 10. Standard RS-232C Port.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 25

Setup & Operation 3. Installation

3.4.2 Connecting Manipulator to Controller

Connect the Manipulator to the Controller by using the Power cable and the Signal cable.

■ Make sure that the power to the Controller is turned OFF before connecting or
disconnecting any cables. Connecting or disconnecting any cables with the
power ON is extremely hazardous and may result in electric shock and
malfunction of the Controller.
■ Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
WARNING
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the system.

■ The serial number of the Manipulator that should be connected is indicated on the
Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
Manipulator may cause not only improper function of the robot system but also
safety problems.
■ When connecting the Manipulator to the Controller, make sure that the serial
CAUTION
numbers on each equipment match. Improper connection between the
Manipulator and Controller may not only cause improper function of the robot
system but also serious safety problems. The connection method varies with the
Controller used. For details on the connection, refer to the Controller manual.

26 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 3. Installation

The configuration data for the Manipulator and Manipulator model are stored in the
Controller. Therefore the Controller should be connected to the Manipulator whose
serial number is specified in the Connection Check label attached on the front of the
NOTE Controller.

 The Manipulator’s serial number is indicated on the signature label of the Manipulator.

LS3 series Manipulator

(Figure: LS3-401S)

RC90 Controller

M/C Power Cable

M/C Signal Cable

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 27

Setup & Operation 3. Installation

3.5 Noise Countermeasures

To minimize electrical noise conditions, the following items must be observed in the
system’s cable wiring:
To minimize electrical noise condition, be sure of followings for wiring.
- The earth wire of the power supply should be grounded. (Ground resistance: 100 Ω or
less) It is important to ground the frame of Controller not only for prevention from
electric shock, but also for reducing the influence of electric noise around the
Controller. Therefore, be sure to connect the earth wire (yellow/green) of the
Controller’s power cable to the ground terminal of the factory power supply. For
details about the plug and AC power cable, refer to the Setup & Operation 3.3 Power
Supply.
- Do not tap power from a power line that connects to any equipment which may cause
noise.
- When you tap power for the Controller and the single-phase AC motor from the same
power line, change the phase of one or the other. Ensure that they will not be the
same phase.
- Use a twisted pair motor power line.
- Do not run AC power lines and DC power lines in
the same wiring duct, and separate them as far as
AC Line duct
possible. For example, separate the AC motor
power line and the Controller power line as far as As far as
possible from the sensor or valve I/O lines; and do possible
not bundle both sets of wiring with the same cable
DC line duct
tie. If more than one duct/cable must cross each
other, they should cross perpendicularly. The
preferable example is shown in the right figure.
- Wire as short as possible to the I/O connector and EMERGENCY connector. Use a
shielded cable and clamp the shield to the attached connector interior. Make sure to
keep away from the peripheral noise source as far as possible.
- Make sure that the induction elements used to connect to the Controller’s I/O (such as
relays and solenoid valves) are noise suppression parts. If an induction element
without protection against noise is used, make sure to connect a noise suppression part
such as a diode located at the induction element in parallel with it. In selecting noise
suppression parts, make sure that they can handle the voltage and current incurred by
the induction load.
- To start and change revolutions of the conveyer’s (or the like’s) AC motor (ex: an
induction motor or three-phase induction motor) regularly or abruptly, make sure to
install a spark suppressor between the wires. The spark suppressor is more effective
when placed closer to the motor.
- As they are easily influenced by noise, keep cable such as USB, Ethernet, RS-232C, or
fieldbus away from peripheral noise sources.

28 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 4. Operation Mode (TEACH/AUTO/TEST)

4. Operation Mode (TEACH/AUTO/TEST)

4.1 Overview
The Robot system has three operation modes.

TEACH mode This mode enables point data teaching and checking close to the
Robot using the Teach Pendant.
In this mode the Robot operates in Low power status.
AUTO mode This mode enables automatic operation (program execution) of the
Robot system for the manufacturing operation, and also
programming, debug, adjustment, and maintenance of the Robot
system.
This mode cannot operate the Robots or run programs with the Safety
Door open.
TEST mode This mode enables program verification while the Enable Switch is
held down and the safeguard is open.
This is a low speed program verification function (T1: manual
deceleration mode) which is defined in Safety Standards.
This mode can operate the specified Function with multi-task /
single-task, multi-manipulator / single-manipulator at low speed.

4.2 Switch Operation Mode

Change the operation mode using the mode selector key switch on the Teach Pendant.

TEACH mode Turn the mode selector key switch to “Teach” for TEACH mode.
Switching to TEACH mode pauses the program if it was running.
The operating Robot stops by Quick Pause.
AUTO mode Turn the mode selector key switch to “Auto” and turn on the latch
release input signal for AUTO mode.
TEST mode Turn the mode selector key switch to “Teach” for “TEACH” mode.
Push <F1> key-[Test Mode] in [Jog & Teach] dialog of TEACH
mode. The mode will be changed to TEST

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 29

Setup & Operation 4. Operation Mode (TEACH/AUTO/TEST)

4.3 Program Mode (AUTO)

4.3.1 What is Program Mode (AUTO)?

Program mode is for programming, debug, adjustment, and maintenance of the Robot
system.
Follow the procedures below to switch to the Program mode.

4.3.2 Setup from EPSON RC+ 7.0

Switch the mode to Program mode from the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog.

(5)
(2) (4)

(3)

(2) Select [Startup].

(3) Select [Start mode]-<Program> button.
(4) Click the <Apply> button.
(5) Click the <Close> button.

30 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 4. Operation Mode (TEACH/AUTO/TEST)

4.4 Auto Mode (AUTO)

4.4.1 What is Auto mode (AUTO)?

Auto mode (AUTO) is for automatic operation of the Robot system.
Procedures for switching to the Auto mode (AUTO) are the followings.
A : Set the start mode of the EPSON RC+ 7.0 to “Auto” and start the EPSON RC+ 7.0.
(Refer to Setup & Operation 4.4.2 Setup from EPSON RC+ 7.0.)
B : Offline the EPSON RC+ 7.0.
NOTE Execute and stop the program from the control device specified by the EPSON RC+ 7.0.

 (Refer to Setup & Operation 4.4.3 Setup Control Device.)

4.4.2 Setup from EPSON RC+ 7.0

Switch the mode to Auto mode (AUTO) from the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog.

(5)
(2) (4)
(3)

(2) Select [Startup].

(3) Select [Start Mode]-<Auto> button.
(4) Click the <Apply> button.
(5) Click the <Close> button.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 31

Setup & Operation 4. Operation Mode (TEACH/AUTO/TEST)

4.4.3 Setup from Control Device

Set the control device from EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog.

(5)

(4)
(2)

(3)

(2) Select [Controller]-[Configuration].

(3) Select [Control Device] to select the control device from the following two types.
- PC
- Remote (I/O)
(4) Click the <Apply> button.
(5) Click the <Close> button.

32 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 5. Development PC Connection Port

5. Development PC Connection Port

Development PC connection USB port (USB B series connector)

Development PC connection Port

NOTE For other details of development PC and Controller connection, refer to EPSON RC+ 7.0
 User’s Guide 5.12.1 PC to Controller Communications Command.

For RC90/RC90-B, be sure to install the EPSON RC+ 7.0 to the development PC first,
then connect the development PC and RC90/RC90-B with the USB cable.
If RC90/RC90-B and the development PC are connected without installing the EPSON
RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears. If this wizard
appears, click the <Cancel> button.

5.1 About Development PC Connection Port

The development PC connection port supports the following USB types.
- USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)
- USB1.1 FullSpeed

Interface Standard : USB specification Ver.2.0 compliant

(USB Ver.1.1 upward compatible)
Connect the Controller and development PC by a USB cable to develop the robot system
or set the Controller configuration with the EPSON RC+ 7.0 software installed in the
development PC.
Development PC connection port supports hot plug feature. Cables insert and remove
from the development PC and the Controller is available when the power is ON.
However, stop occurs when USB cable is removed from the Controller or the development
PC during connection.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 33

Setup & Operation 5. Development PC Connection Port

5.2 Precaution
When connecting the development PC and the Controller, make sure of the following:
- Connect the development PC and the Controller with a 5 m or less USB cable.
Do not use the USB hub or extension cable.
- Make sure that no other devices except the development PC are used for development
PC connection port.
- Use a PC and USB cable that supports USB2.0 HighSpeed mode to operate in USB2.0
HighSpeed mode.
- Do not pull or bend the cable strongly.
- Do not allow unnecessary strain on the cable.
- When the development PC and the Controller are connected, do not insert or remove
other USB devices from the development PC. Connection with the Controller may
be lost.

5.3 Software Setup and Connection Check

Connection of the development PC and the Controller is indicated.
(1) Make sure that software EPSON RC+ 7.0 (Ver.7.0.2 or later is recommended) is
installed to the Controller connected to the development PC.
(Install the software when it is not installed. Refer to Robot System Safety and
Installation or EPSON RC+ 7.0 User’s Guide.

(2) Connect the development PC and the Controller using a USB cable.
(3) Turn ON the Controller.
(4) Start EPSON RC+ 7.0.
(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to
display the [PC to Controller Communications] dialog.

(6) Select “No.1 USB” and click the <Connect> button.

34 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 5. Development PC Connection Port

(7) After the development PC and the Controller connection has completed, “Connected”
is displayed at [Connection status]. Make sure that “Connected” is displayed and
click the <Close> button to close the [PC to Controller Communications] dialog.

The connection between the development PC and the Controller is completed. Now the
robot system can be used from EPSON RC+ 7.0.

5.4 Disconnection of Development PC and Controller

Disconnection of the development PC and the Controller communication.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to
display the [PC to Controller Communications] dialog.
(2) Click the <Disconnect> button.
Communication between the Controller and the development PC is disconnected and
the USB cable can be removed.
NOTE If the USB cable is removed when the Controller and the development PC are connected,
 the Robot will stop. Be sure to click the <Disconnect> button in the [PC to Controller
Communications] dialog before USB cable is removed.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 35

Setup & Operation 6. Memory Port

6. Memory Port
Connect a commercial USB memory to the Controller memory port to use the Controller
status storage function to the USB memory.

6.1 What is Controller Status Storage Function?

This function saves various kinds of Controller data with one push to the USB memory.
Data saved in USB memory is loaded to EPSON RC+ 7.0 to get the status of the
Controller and the program simply and accurately.
The saved data can also be used for restoring the Controller.

6.2 Before Using Controller Status Storage Function

6.2.1 Precautions
■ Controller status storage function is available at any time and in any Controller
status after starting the Controller.
However, operations form the console including stop and pause are not available
while executing this function.
Also, this function influences the robot cycle time and the communication with
CAUTION
EPSON RC+ 7.0. Other than only when it is necessary, do not execute this
function when operating the robot.

- Make sure that the USB port is used only for USB memory even though the port on the
Controller is a universal USB port.
- Insert the USB memory directly into the Controller memory port. Connection with
cables or hubs between the Controller and the USB memory is not assured.
- Make sure that the USB memory is inserted or removed slowly.
- Do not edit the saved files with an editor. Operation of the robot system after data
restoration to the Controller is not assured.

6.2.2 Adoptable USB Memory

Use USB memory that meets following conditions.
- USB2.0 supported
- Without security function
USB memory with password input function cannot be used.
- No installation of a driver or software is necessary for Windows 7, Windows 8, or
Windows 10.
(For supported operating systems for the EPSON RC+ 7.0, refer to Setup & Operation
1.1 System Example.)

36 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 6. Memory Port

6.3 Controller Status Storage Function

6.3.1 Controller Status Storage with Trigger Button
■ Controller status storage function is available at any time and in any Controller
status after starting the Controller.
However, operations form the console including stop and pause are not available
while executing this function.
CAUTION Also, this function influences the robot cycle time and the communication with
EPSON RC+ 7.0. Other than only when it is necessary, do not execute this
function when operating the robot.

Use this procedure to save the status of the Controller to USB memory.
(1) Insert the USB memory into the memory port.
(2) Wait approximately 10 seconds for USB memory recognition.
(3) Press the trigger button on the Controller.
When the data transfer starts, the LED of TEACH, AUTO, and PROGRAM starts
blinking. Wait until the LED status changes.
(The data transfer time varies according to the data size such as of the projects.)

(4) When the controller status storage is completed successfully, the LED of TEACH, AUTO,
and PROGRAM are turned ON for two seconds. Note that the LED of ERROR turns
OFF even in the error status.
If it ends in failure, the LED of ERROR, TEACH, AUTO, and PROGRAM are turned ON
for two seconds.
(5) Remove the USB memory from the Controller.

NOTE - USB memory with LED is recommended to check the status changes in procedure (2).
 - When storage is executed during Motor ON status, it may fail to store the status.
Use another USB memory or execute the storage during Motor OFF status.

6.3.2 Load Data with EPSON RC+ 7.0

The following shows the procedure to read the data stored in the USB memory by EPSON
RC+ 7.0 and display the Controller status.
(1) Insert the USB memory into the PC with EPSON RC+ 7.0.
(2) Make sure that the following folder is indicated in the USB memory.
B_controller model_serial number_data status was saved
→ Example RC90 : B_RC90_12345_2013-10-29_092951
→ Example RC90-B : B_RC90-B_12345_2013-10-29_092951
(3) Copy the folder confirmed in procedure (2) to the “\EpsonRC70\Backup” folder.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 37

Setup & Operation 6. Memory Port

(4) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller
Tools] dialog.

(5) Click the <View Controller Status…> button.

(6) [Browse For Folder] dialog appears. Select the folder copied in procedure (3) and
click the <OK> button.

(7) [Controller Status Viewer] dialog appears to confirm the Controller status.
For details, refer to View Controller Status in EPSON RC+ 7.0 User’s Guide 5.11.8
Controller Command (Tools Menu).

38 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 6. Memory Port

6.3.3 Transfer with E-mail

Follow this procedure to transfer the data by e-mail that was saved to the USB memory.
(1) Insert the USB memory to a PC that supports sending of e-mail.
(2) Make sure that the USB memory has following folders.
B_controller model_serial number_data status was saved
→ Example RC90 : B_RC90_12345_2013-10-29_092951
→ Example RC90-B : B_RC90-B_12345_2013-10-29_092951
(3) Send all the folders by e-mail.
NOTE - Delete files that do not relate to the project before transfer.
 - This function is used to send the data to the system director and EPSON from the end
users for problem analysis.

6.4 Details of Data

The following data files are created by the Controller status storage function.
File Name Outline
[Link] Information file File with information for Controller restore.
for restore
[Link] Robot Saves information such as ToolSet.
parameter
[Link] Save status Saves program and I/O status.
[Link] Error history
[Link] Initial setting Saves various settings of the Controller.
[Link] Robot setting Saves information of connected robot.
[Link] Hardware Saves installation information of hardware.
information
[Link] OBJ file Result of project build.
Prg file is not included.
[Link] *1 Global Preserve Saves values of Global Preserve variables.
variables
[Link] WorkQue Saves information of Queues information of the WorkQue.
information
[Link] Inner
[Link] information
[Link] of Robot
[Link] operation
[Link]
[Link]
All files related to Project When [Include project files when status exported] check box
project except is checked in EPSON RC+ 7.0 menu-[Setup]-
[Link] *2 [System Configuration]-[Controller]-[Preference],
the project file is stored. Includes program files.
*1 When the Controller firmware version is Ver.1.0.*.*, [Link] is not stored.
*2 Storage of “All files related to project except [Link]” can be specified by a setting.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 39

Setup & Operation 7. LAN (Ethernet Communication) Port

7. LAN (Ethernet Communication) Port

NOTE - Refer to EPSON RC+ 7.0 User’s Guide 5.12.1 [PC to Controller Communications]

 Command (Setup Menu) for other details for the development PC and Controller
connection.
- For Ethernet (TCP/IP) communication with robot application software, refer to EPSON
RC+ 7.0 Online Help or User’s Guide 14. TCP/IP Communications.

7.1 About the LAN (Ethernet Communication) Port

Ethernet communication port supports 100BASE-TX / 10 BASE-T.
This port is used for two different purposes.

Connection with development PC

LAN (Ethernet communication) port is used for connection of the Controller and the
development PC.
Equivalent operation is available to connect between the Controller and the
development PC with the development PC connection port.
(Refer to Setup & Operation 5. Development PC Connection Port)

Connection with other Controller or PC

The LAN (Ethernet communication) port can be used as an Ethernet (TCP/IP)
communication port to communicate between multiple controllers from robot
application software.

7.2 IP Address
Set the proper IP address or subnet mask depending on the Controller and development PC
configuration to use the LAN port.
Do not input a random value for the IP address of the network configured TCP/IP. This
is the only address that specifies the computer using an Internet connection.
The IP address is assigned from the company or organization that has control of IP
address.
Use an address from the following Internet private environment such as P2P or line.
Make sure that the address is not redundantly assigned inside the closed network.
Private Address List
[Link] to [Link]
[Link] to [Link]
[Link] to [Link]

The following is the configuration of the controller at delivery.

IP Address : [Link]
IP Mask : [Link]
IP Gateway : [Link]

40 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 7. LAN (Ethernet Communication) Port

7.3 Changing Controller IP Address

In this section, the procedure to change the Controller IP address when connecting
Controller development PC connection port and the development PC by the USB cable is
indicated.
(1) For connection between the development PC and the Controller, refer to Setup &
Operation 5. Development PC Connection Port.
(2) Select the EPSON RC+ 7.0 menu-[Setup]-[Controller] to display the following dialog.

(3) Select [Controller]-[Configuration].

(4) Enter the proper IP address and subnet mask and click the <Apply> button.
(5) Click the <Close> button. The Controller reboots automatically.
IP address configuration is completed and the Controller reboot dialog disappears.

NOTE When the Controller and the development PC are connected via the Ethernet, the
 Controller IP address can also be changed. However, Controller and the development PC
do not connect automatically after rebooting the Controller at Ethernet connection.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 41

Setup & Operation 7. LAN (Ethernet Communication) Port

7.4 Connection of Development PC and Controller with Ethernet

Connection between the development PC and the Controller is shown below.
(1) Connect the development PC and the Controller using the Ethernet cable.
(2) Turn on the Controller.
(3) Start EPSON RC+ 7.0.
(4) Display the [PC to Controller Communication] dialog from [Setup] in EPSON RC+
7.0 menu.
(5) Click the <Add> button.

(6) Connection “No.2” is added. Set the following and click the <Apply> button.
Name : Valid value to identify the controller to connect
IP Address : IP address for Controller to connect

(7) [Name] and [IP Address] specified in procedure (6) is displayed.

42 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 7. LAN (Ethernet Communication) Port

(8) Make sure that “No.2” is selected, and click the <Connect> button.

(9) After the development PC and Controller connection is completed, “Connected” is

displayed in the [Connection status:]. Make sure that “Connected” is displayed and
click the <Close> button to close the [PC to Controller Communications] dialog.

Connection between the development PC and the Controller is complete. Now the robot
system can be used via an Ethernet connection from EPSON RC+ 7.0.

7.5 Disconnection of Development PC and Controller with Ethernet

Disconnection of the development PC and the Controller is shown below.
(1) Display [PC-Controller Connection] dialog from [Setup] in EPSON RC+ 7.0 menu.
(2) Click the <Disconnect> button.
Communication between the Controller and the development PC is disconnected and
the Ethernet cable can be removed.
NOTE If the Ethernet cable is removed when the Controller and the development PC is connected,
 Emergency Stop occurs and the Robot stops. Be sure to click the <Disconnect> button in
the [PC to Controller Communications] dialog before the Ethernet cable is removed.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 43

Setup & Operation 8. TP Port

8. TP Port
8.1 What is the TP Port?
The TP port connects the Teach Pendant to the Controller. You can connect the Teach
Pendant.
NOTE When nothing is connected to the TP port, Emergency Stop status occurs in the Controller.

 When the Teach Pendant is not connected, connect the TP bypass plug.
Do not connect the following devices to the TP port of RC90/RC90-B. Connecting these
devices may result in malfunction of the device since the pin assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1

8.2 Teach Pendant Connection

A cable for connection to the RC90/RC90-B Controller is attached to the Teach Pendant.
Connect this cable connector to the TP port.
Communication is set automatically. Enable the Teach Pendant by one of the following
procedures.
- Insert the Teach Pendant connector to the Controller and turn ON the Controller.
- Insert the Teach Pendant connector while the Controller is turned ON.

NOTE - Teach Pendant connection and disconnection from the Controller are allowed when the

 Controller power is ON.

- When the Teach Pendant connector is removed from the Controller with the mode
selector key switch of the Teach Pendant in the “Teach” position, the operation mode
will remain in the TEACH mode. The operation mode cannot be switched to AUTO
mode. Be sure to remove the Teach Pendant after switching the operation mode to
“Auto” mode.
For details, refer to manual
Robot Contoroller RC700/RC90 Option Teach Pendant TP1.
Robot Contoroller RC700/RC90 Option Teach Pendant TP2.

44 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 9. EMERGENCY

9. EMERGENCY
NOTE The details of safety requirements for this section are described in EPSON RC+ 7.0 2.
 Safety. Please refer to them to keep the robot system safe.
Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY
connector for safety.
When nothing is connected to the EMERGENCY connector, the robot system does not
operate normally.

■ Before connecting the connector, make sure that the pins are not bent.
Connecting with the pins bent may damage the connector and result in
WARNING malfunction of the robot system.

EMERGENCY Connector

9.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the Safety Door switch and the
Emergency Stop switch. Be sure to use these input terminals to keep the system safe.
Connector Standard
EMERGENCY connector D-sub 25 male pin
(Controller side) Mounting style #4 - 40
* The E-STOP BOX, EMERGENCY connector cable, terminal block, and EMERGENCY
connector kit are offered as options.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 45

Setup & Operation 9. EMERGENCY

9.1.1 Safety Door Switch

■ The interlock of the Safety Door must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot
system when the switch is not functioning properly is extremely hazardous and
WARNING
may cause serious safety problems as the Safety Door input cannot fulfill its
intended function.

In order to maintain a safe working zone, a safeguard must be erected around the
Manipulator. The safeguard must have an interlock switch at the entrance to the working
zone. The Safety Door that is described in this manual is one of the safeguards and an
interlock of the Safety Door is called a Safety Door switch. Connect the Safety Door
switch to the Safety Door input terminal on the EMERGENCY connector.
The Safety Door switch has safety features such as temporary hold-up of the program or
the operation-prohibited status that are activated whenever the Safety Door is opened.
Observe the followings in designing the Safety Door switch and the Safety Door.
- For the Safety Door switch, select a switch that opens as the Safety Door opens, and
not by the spring of the switch itself.
- The signal from the Safety Door (Safety Door input) is designed to input to two
redundant signals. If the signals at the two inputs differ by two seconds or more, the
system recognizes it to be a critical error. Therefore, make sure that the Safety Door
switch has two separate redundant circuits and that each connects to the specified pins
at the EMERGENCY connector on the Controller.
- The Safety Door must be designed and installed so that it does not close accidentally.

9.1.2 Latch Release Switch

The controller software latches these conditions:
- The safety door is open.
- The operation mode is set to “TEACH”.
The EMERGENCY connector has an input terminal for a latch release switch that cancels
the latched conditions.
Open : The latch release switch latches conditions that the safety door is open or the
operation mode is “TEACH”.
Closed : The latch release switch releases the latched conditions.
NOTE When the latched TEACH mode is released while the safety door is open, the status of
 Manipulator power is operation-prohibited because the safety door is open at that time.
To execute a Manipulator operation, close the safety door again, and then close the latch
release input.

46 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 9. EMERGENCY

9.1.3 Checking Latch Release Switch Operation

After connecting the safety door switch and latch release switch to the EMERGENCY
connector, be sure to check the switch operation for safety by following the procedures
described below before operating the Manipulator.
(1) Turn ON the Controller while the safety door is open in order to boot the controller
software.
(2) Make sure that “Safety” is displayed on the main window status bar.
(3) Close the safety door, and turn ON the switch connecting to the latch release input.
Make sure that the “Safety” is dimmed on the status bar.
The information that the safety door is open can be latched by software based on the latch
release input condition.
Open : The latch release switch latches the condition that the safety door is open.
To cancel the condition, close the safety door, and then close the safety door
latch release input.
Closed : The latch release switch does not latch the condition that the safety door is open.

NOTE The latch release input also functions to acknowledge the change of to TEACH mode.

 In order to change the latched condition of TEACH mode, turn the mode selector key
switch on the Teach Pendant to “Auto”. Then, close the latch release input.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 47

Setup & Operation 9. EMERGENCY

9.2 Emergency Stop Switch Connection

9.2.1 Emergency Stop Switch
If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency
Stop on the Teach Pendant and Operator Panel, be sure to connect such Emergency Stop
switch(es) to the Emergency Stop input terminal on the EMERGENCY connector.
The Emergency Stop switch connected must comply with the following:
- It must be a push button switch that is “normally closed”.
- A button that does not automatically return or resume.
- The button must be mushroom-shaped and red.
- The button must have a double contact that is “normally closed”.
NOTE The signal from the Emergency Stop switch is designed to use two redundant circuits.

 If the signals at the two circuits differ by two seconds or more, the system recognizes it as
a critical error. Therefore, make sure that the Emergency Stop switch has double
contacts and that each circuit connects to the specified pins on the EMERGENCY
connector at the Controller. Refer to the Setup & Operation 9.4 Circuit Diagrams.

9.2.2 Checking Emergency Stop Switch Operation

Once the Emergency Stop switch is connected to the EMERGENCY connector, continue
the following procedure to make sure that the switch functions properly. For the safety
of the operator, the Manipulator must not be powered ON until the following test is
completed.
(1) Turn ON the Controller to boot the controller software while pressing the Emergency
Stop switch.
(2) Make sure that E-STOP LED of the controller is lighting.
(3) Make sure that “[Link]” is displayed on the status bar on the main window.
(4) Release the Emergency Stop Switch.
(5) Execute the RESET command.
(6) Make sure that E-STOP LED is turned OFF and that “E-Stop” is dimmed on the main
window status bar.

9.2.3 Recovery from Emergency Stop

To recover from the emergency stop condition, follow the procedure of safety check as
required by the system.
After safety check, the operations below are required to recover from the emergency stop
condition.
- Release the Emergency Stop Switch
- Execute the RESET command

48 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 9. EMERGENCY

9.3 Pin Assignments

The EMERGENCY connector pin assignments are as follows:

Pin No. Signal Function Pin No. Signal Function

*3
1 ESW11 Emergency Stop switch contact (1) 14 ESW21 Emergency Stop switch contact (2) *3
2 ESW12 Emergency Stop switch contact (1) *3 15 ESW22 Emergency Stop switch contact (2) *3
3 ESTOP1+ Emergency Stop circuit 1 (+) *4 16 ESTOP2+ Emergency Stop circuit 2 (+) *4
4 ESTOP1− Emergency Stop circuit 1 (-) *4 17 ESTOP2− Emergency Stop circuit 2 (-) *4
*1
5 Not Used 18 SDLATCH1 Safety Door Latch Release
*1
6 Not Used 19 SDLATCH2 Safety Door Latch Release
7 SD11 Safety Door input (1) *2 20 SD21 Safety Door input (2) *2
8 SD12 Safety Door input (1) *2 21 SD22 Safety Door input (2) *2
9 24V +24V output 22 24V +24V output
10 24V +24V output 23 24V +24V output
11 24VGND +24V GND output 24 24VGND +24V GND output
12 24VGND +24V GND output 25 24VGND +24V GND output
13 Not Used

*1 Do not connect anything to these pins.

*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2
are different for two or more seconds. They must be connected to the same switch
with two sets of contacts.
*3 A critical error occurs if the input values from the Emergency Stop switch contact 1
and Emergency Stop switch contact 2 are different for two or more seconds. They
must be connected the same switch with two sets of contacts.
*4 Do not apply reverse voltage to the Emergency Stop circuit.

Emergency Stop switch output rated load +30 V 0.3 A or under 1-2, 14-15 pin
Emergency Stop rated input voltage range +24 V ±10%
3-4, 16-17 pin
Emergency Stop rated input current 37.5 mA ±10% /+24 V input
Safety Door rated input voltage range +24 V ±10%
7-8, 20-21 pin
Safety Door rated input current 10 mA/+24 V input
Latch Release rated input voltage range +24 V ±10%
18-19 pin
Latch Release rated input current 10 mA/+24 V input

NOTE The total electrical resistance of the Emergency Stop switches and their circuit should be
 1 Ω or less.

■ The 24 V output is for emergency stop. Do not use it for other purposes.
Doing so may result in system malfunction.
■ Do not apply reverse voltage to the Emergency Stop circuit. Doing so may
CAUTION result in system malfunction.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 49

Setup & Operation 9. EMERGENCY

9.4 Circuit Diagrams

9.4.1 Example 1: External emergency stop switch typical application
Controller
External Emergency
Stop switches
+24V
9
Emergency 10
Stop switch of
22
an Operation
Unit (TP) 23
1
2

14
15
ESTOP1+ 3
+5V
ESTOP2+ 16

Main Circuit
Control
Be careful of
the direction
of voltage
application
+ −
+
Motor Driver

ESTOP1−
AC Input 4
ESTOP2− 17
Emergency 11
Stop detection
12

24

25 External
+24V
7
Safety Door input 1
8

20
Safety Door input 2
21

18

Latch release input

19

External +24V
NOTE:+24V GND Latch release input Close :Latch off GND
Open :Latch on
+ 5V GND

50 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 9. EMERGENCY

9.4.2 Example 2: External safety relay typical application

Controller
External +24V
+24V Fuse

Emergency
9
Stop switch of 10
an Operation
Unit (TP) 22
23
1
2

14
External
+24V GND
15
External
3 +24V
+5V
16

External safety relay

Main Circuit (The above diagram
Control is simplified for
representation.)

* For the protection of the

emergency stop circuit,
the fuse’s capacity
should be as follows:
+ + − − Meets the capacity of
Motor Drive the external safety
relay
− 0.4A or less

AC Input 4
17
Emergency 11
Stop detection
12 External
+24V GND
24
External
25 +24V

7
Safety Door input 1
8

20

Safety Door input 2

21

18

Latch Release input 19

NOTE:+24V GND
+ 5V GND
External
Latch release input Close :Latch off +24V
GND
Open :Latch on

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 51

Setup & Operation 10. Standard RS-232C Port

10. Standard RS-232C Port

10.1 About the RS-232C Port
A standard RS-232C port is available with the Controller.
Mount the RS-232C board(s) in the option slot to communicate with external equipment
with two or more RS-232C ports.
For the details of the expansion port, refer to Setup & Operation 13.4 RS-232C Board.
Port numbers are assigned as follows.
Port No. Supported hardware
#1 Standard RS-232C connector
#2 First expansion RS-232C board CH1
#3 First expansion RS-232C board CH2
#4 Second expansion RS-232C board CH1
#5 Second expansion RS-232C board CH2

10.2 Confirmation with EPSON RC+ 7.0

When an RS-232C board is mounted in as option unit, the Controller software
automatically identifies the RS-232C board. Therefore, no software configuration is
needed. Correct identification can be confirmed from EPSON RC+ 7.0.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the
[System Configuration] dialog.

(2) Select the [RS232]-[RS232].

52 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 10. Standard RS-232C Port

10.3 RS-232C Software Communication Setup (RS-232C)

Available communication settings are as follows.
Item Specification
Baud Rates 110, 300, 600, 1200, 2400, 4800, 9600,
14400, 19200, 38400, 57600, 115200
Data bit length 7, 8
Stop bit length 1, 2
Parity Odd, even, NA
Terminator CR, LF, CRLF
Refer to EPSON RC+ 7.0 Online Help or Users Guide – 13. RS-232C Communications for
RS-232C communication from the Robot application.

10.4 Communication Cable (RS-232C)

Prepare a communication cable as described in this section.
Connector Standard
RS-232C Connector D-sub 9 male pin
(Controller side) Mounting style #4 - 40

NOTE Use twisted pair cable for shielded wire.

 Clamp the shield to the hood for noise prevention.
Pin assign of the RS-232C connector is as follows.
Pin No Signal Function Signal Direction
1 DCD Data carrier detect Input
2 RXD Receive data Input
3 TXD Send data Output
4 DTR Terminal ready Output
5 GND Signal ground -
6 DSR Data set ready Input
7 RTS Request to send Output
8 CTS Clear to send Input
9 RI Ring indicator Input

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 53

Setup & Operation 11. I/O Connector

11. I/O Connector

The I/O connector is for connecting your input/output equipment to the system.
Specification of I/O connector differs between RC90 and RC90-B.
RC90 : The output circuit has two types: Sink type and Source type. The either
type has been configured in the controller before shipment.
RC90-B : Non-polar PhotoMOS relay is used. Two types of connection are available.
Pins Bit number
Input 24 0 to 23
Output 16 0 to 15

Refer to Setup & Operation 13.2. Expansion I/O board.

For cable wiring, refer to the Setup & Operation 3.5 Noise Countermeasures in order to
prevent noise.
Remote function is initially assigned to both input and output from 0 to 7. For further
details, refer to Setup & Operation 11. I/O Remote Settings.

54 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 11. I/O Connector

11.1 RC90 (I/O Connector)

11.1.1 Input Circuit (RC90)
Input Voltage Range : +12 to 24 V ±10%
ON Voltage : +10.8 V (min.)
OFF Voltage : +5 V (max.)
Input Current : 10 mA (TYP) at +24 V input
Two types of wiring are available for use with the two-way photo coupler in the input
circuit.

Typical Input Circuit Application 1 (RC90)

I/O-1

GND +DC
1 Input No.0 to 7 common

2 Input No.0

(Same) 3 Input No.1

(Same) 4 Input No.2

(Same) 5 Input No.3

(Same) 6 Input No.4

(Same) 7 Input No.5

(Same) 8 Input No.6

(Same) 9 Input No.7

18 Input No.8 to 15 common

(Same) 19 Input No.8

20 Input No.9

Omit

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 55

Setup & Operation 11. I/O Connector

Typical Input Circuit Application 2 (RC90)

I/O-1

GND +DC
1 Input No.0 to 7 common

2 Input No.0

(Same) 3 Input No.1

(Same) 4 Input No.2

(Same) 5 Input No.3

(Same) 6 Input No.4

(Same) 7 Input No.5

(Same) 8 Input No.6

(Same) 9 Input No.7

18 Input No.8 to 15 common

(Same) 19 Input No.8

20 Input No.9

Omit

56 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 11. I/O Connector

11.1.2 Output Circuit (RC90)

Rated Output Voltage : +12 V to +24 V ±10%
Maximum Output Current : TYP 100 mA/1 output
Output Driver : Photo coupler

■ The output circuit has two types: Sink type and Source type. The either type
has been configured in the controller before the shipment. Before routing the
cables, make sure that the I/O output type of your controller conforms to the
external connection devices.
If you route the cables with wrong output type, the parts on the board will be
broken and the robot system won’t operate normally.
■ Use the wiring diagram of 2: Source Type for CE conformance. Be sure to wire
CAUTION correctly. Improper wiring may cause safety problems as it may make the
Manipulator move unusually.
■ Be sure to wire the output circuit properly because it has no protection circuitry
for short-circuit and reverse-connection. Improper wiring may cause
malfunction of the parts on the board and then improper function of the robot
system.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 57

Setup & Operation 11. I/O Connector

Typical Output Circuit Application 1: Sink Type (RC90)

GND +DC

10 Output No.0
L

11 Output No.1
(Same) L

12 Output No.2
(Same)

13 Output No.3
(Same)
14 Output No.4
(Same)
15 Output No.5
(Same)
27 Output No.6
(Same)
28 Output No.7
(Same) 17 Output No.0 to 7 Common (GND)

29 Output No.8
L

30 Output No.9

～
～～ ～
Omit

58 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 11. I/O Connector

Typical Output Circuit Application 2: Source Type (RC90)

■ Be sure to wire the output circuit properly because it has no protection circuitry
for short-circuit and reverse-connection. Improper wiring may cause
malfunction of the parts on the board and then improper function of the robot
CAUTION
system.

GND +DC
17 Output No.0 to 7 Common

10 Output No.0
L

(Same) 11 Output No.1

L
12 Output No.2
(Same)

13 Output No.3
(Same)

14 Output No.4
(Same)

15 Output No.5
(Same)

27 Output No.6
(Same)

28 Output No.7
(Same)

33 Output No.8 to 15 Common

29 Output No.8
L

30 Output No.9

～ ～ ～
Omit
～

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 59

Setup & Operation 11. I/O Connector

11.2 RC90-B (I/O Connector)

11.2.1 Input Circuit (RC90-B)

Input Voltage Range : + 12∼24 V±10%

ON Voltage : + 10.8 V(MIN.)
OFF Voltage : + 5 V(MAX.)
Input Current : 3mA TYP／+ 24 V input

Two types of wiring are available for use with the two-way photo coupler in the input
circuit.

Typical Input Circuit Application 1 (RC90-B)

I/O-1

GND +DC
1 Input No.0 to 7 common

2 Input No.0

(Same) 3 Input No.1

(Same) 4 Input No.2

(Same) 5 Input No.3

(Same) 6 Input No.4

(Same) 7 Input No.5

(Same) 8 Input No.6

(Same) 9 Input No.7

18 Input No.8 to 15 common
19 Input No.8

20 Input No.9

Omit

60 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 11. I/O Connector

Typical Input Circuit Application 2 (RC90-B)

I/O-1

GND +DC
1 Input No.0 to 7 common

2 Input No.0

(Same) 3 Input No.1

(Same) 4 Input No.2

(Same) 5 Input No.3

(Same) 6 Input No.4

(Same) 7 Input No.5

(Same) 8 Input No.6

(Same) 9 Input No.7

18 Input No.8 to 15 common

(Same) 19 Input No.8

20 Input No.9

Omit

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 61

Setup & Operation 11. I/O Connector

11.2.2 Output Circuit (RC90-B)

Rated Output Voltage : +12V∼24V±10%
Maximum Output Current : TYP 100mA／1 output
Output Driver : PhotoMOS relay
On-resistance (average) :0.13Ω or less

Two types of wiring are available for use with the non-polar PhotoMOS relay in the output
circuit.

Typical Output Circuit Application 1 (RC90-B)

I/O-1
GND +DC
10 Output No.0
L
Load

11 Output No.1
L
(Same) 12 Output No.2
(Same) 13 Output No.3
(Same)
14 Output No.4
(Same)
15 Output No.5
(Same) 27 Output No.6

(Same) 28 Output No.7

(Same) 17 Output No.0 to 7 Common (GND)

29 Output No.8
(Same)
30 Output No.9
(Same)

Omit
33 Output No.8 to 15 Common (GND)

62 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 11. I/O Connector

Typical Output Circuit Application 2 (RC90-B)

I/O-1

GND +DC
10 Output No.0
L
Load

11 Output No.1
L
(Same) 12 Output No.2
(Same) 13 Output No.3
(Same) 14 Output No.4

(Same) 15 Output No.5

(Same) 27 Output No.6

(Same) 28 Output No.7

(Same) 17 Output No.0 to 7 Common (+DC)

29 Output No.8
(Same)
30 Output No.9
(Same)

Omit
33 Output No.8 to 15 Common (+DC)

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 63

Setup & Operation 11. I/O Connector

11.3 Pin Assignments

Pin Pin Pin
Signal Name Signal Name Signal Name
No. No. No.
1 Input common No. 0 to 7 18 Input common No. 8 to 15 34 Input common No. 16 to 23
2 Input No. 0 (Start) 19 Input No. 8 35 Input No. 16
3 Input No. 1 (SelProg1) 20 Input No. 9 36 Input No. 17
4 Input No. 2 (SelProg2) 21 Input No. 10 37 Input No. 18
5 Input No. 3 (SelProg4) 22 Input No. 11 38 Input No. 19
6 Input No. 4 (Stop) 23 Input No. 12 39 Input No. 20
7 Input No. 5 (Pause) 24 Input No. 13 40 Input No. 21
8 Input No. 6 (Continue) 25 Input No. 14 41 Input No. 22
9 Input No. 7 (Reset) 26 Input No. 15 42 Input No. 23
10 Output No. 0 (Ready) 27 Output No. 6 (SError) 43 Output No.11
11 Output No. 1 (Running) 28 Output No. 7 (Warning) 44 Output No.12
12 Output No. 2 (Paused) 29 Output No. 8 45 Output No.13
13 Output No. 3 (Error) 30 Output No. 9 46 Output No.14
14 Output No. 4 (EstopOn) 31 Output No.10 47 Output No.15
15 Output No. 5 (SafeguardOn) 32 Not Used 48 Not Used
16 Not Used 33 Output common No. 8 to 15 49 Not Used
17 Output common No. 0 to 7 50 Not Used

Remote function inside ( ) in the table above is initially assigned to both input and output from 0 to 7. For
further details, refer to 12. I/O Remote Settings.
Connector Standard
D-sub 50 male pin
I/O Connector (Controller side)
Mounting style #4 - 40
* The I/O connector, I/O cable, and terminal block are offered as options.
* I/O connector is included with shipment.

64 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 12. I/O Remote Settings

12. I/O Remote Settings

This section describes the functions and timings of input and output signals.
The remote functions may be assigned to your standard I/O board(s), expansion I/O
board(s), or fieldbus I/O board(s) to enhance robot system control - either from an
operational unit of your choice or a sequencer.
Remote function is initially assigned to both input and output from 0 to 7.
To accept external remote inputs, assign the remote function and the control device is
remote. For further details, refer to the section, Remote Control Software Configuration
in EPSON RC+ 7.0 User’s Guide - Remote Control.
The user defines the I/O number that a remote function is assigned to using software
configuration. For further details, refer to the section, Remote Control Software
Configuration in EPSON RC+ 7.0 User’s Guide - Remote Control.
For details about I/O cable connection, refer to sections on Setup & Operation 11. I/O
Connector and 13.2. Expansion I/O Board and 13.3 Fieldbus I/O Board.
For details about communication with external equipment, refer to EPSON RC+ 7.0
User’s Guide -12. Remote Control.

■ When using remote I/O, always make sure of the following. Using the robot
system under unsatisfactory conditions may cause malfunction of the system
and/or safety problems.
- Assign remote functions to inputs/outputs correctly and wire correctly when
setting up remote I/O signals.
- Make sure that the functions correspond to the correct input/output signals
CAUTION before turning ON the system.
- When verifying the robot system operation, prepare for failures with initial
settings or wiring. If the Manipulator functions unusually by the failures with
initial settings or wiring, press the Emergency Stop switch immediately to
stop the Manipulator.

NOTE Remote function is available when virtual I/O is enabled.

 When you set up a remote I/O signal, please either keep a written record of the settings or
store the data in a file for later reference.
When you set up a fieldbus I/O signal to the remote function, response depends on the
baud rate of the fieldbus. For details of fieldbus response, refer to Robot Controller
RC700 / RC90 Option Fieldbus I/O.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 65

Setup & Operation 12. I/O Remote Settings

12.1 I/O Signal Description

Remote function is initially assigned to both input and output from 0 to 7.
To change the function assignment from the initial setting, use EPSON RC+ 7.0.
To use all signals, you will need to add Expansion I/O or Fieldbus I/O board(s).

12.1.1 Remote Input Signals

Remote inputs are used to control the Manipulators and start programs. Certain
conditions must be met before inputs are enabled, as shown in the table below.
To accept external remote inputs, assign the remote function and set remote to the control
device. When external remote input is available, “AutoMode output” turns ON.
Except “SelProg”, the signals execute each function when the signal starts in input
acceptance condition. The function executes automatically. Therefore, no special
programming is needed.

NOTE When an error occurs, you must execute a “Reset” to clear the error condition before any
 other remote input commands can be executed. Use the “Error output” and “Reset input”
to monitor the error status and clear error conditions from the remote device.

Name Initial Description Input Acceptance Condition (*1)

Ready output ON
Error output OFF
Execute function selected at SelProg. EStopOn output OFF
Start 0
(*2) SafeguardOn output OFF
Pause input OFF
Stop input OFF
SelProg1 1
SelProg2 2
SelProg4 3 Specify the executing Main function
SelProg8 Not Set number. (*2)
SelProg16 Not Set
SelProg32 Not Set
Stop 4 All tasks and commands are stopped.
Pause 5 All tasks are paused. (*3) Running output ON
Paused output ON
Continue 6 Continue the paused task. Pause input OFF
Stop input OFF
Reset 7 Reset emergency stop and error. (*4) Ready output ON
Shutdown Not set Terminates the system
Operates as the forced low power Any time
function. This input is acceptable even
The robot is operated in the low AutoMode output is OFF.
power mode.
ForcePowerLow Power High control from the
Not Set
(*6) command is not accepted.
Executes the following according to
the controller preferences.
Stops or temporarily stops all the
tasks and commands.

66 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 12. I/O Remote Settings

Name Initial Description Input Acceptance Condition (*1)

Changes the output condition of
SelRobot Not Set MotorsOn, AtHome, PowerHigh, and
MCalReqd. (*9)
SelRobot1
SelRobot2
Specify the number of robot which
SelRobot4 Not set
executes a command. (*5)
SelRobot8
SelRobot16
Ready output ON
EStopOn output OFF
SetMotorsOn Not set Turn ON robot motors. (*5) SafeguardOn output OFF
SetMotorOff input OFF
SetMotorsOff Not set Turn OFF robot motors. Ready output ON
Ready output ON
EStopOn output OFF
SetPowerHigh Not set Set the robot power mode to High (*5)
SafeguardOn output OFF
SetPowerLow input OFF
SetPowerLow Not set Set the robot power mode to Low. (*5) Ready output ON
Ready output ON
Error output OFF
EStopOn output OFF
Move the Robot Arm to the home
Home Not set SafeguardOn output OFF
position defined by the user.
MotorsOn output ON
Pause input OFF
Stop input OFF
Ready output ON
Error output OFF
EStopOn output OFF
MCal Not set Execute MCal (*5) (*7) SafeguardOn output OFF
MotorsOn output ON
Pause input OFF
Stop input OFF
Paused output ON
Error output OFF
After the safeguard is closed, recover EStopOn output OFF
Recover Not set to the position where the safeguard is SafeguardOn output OFF
open. RecoverReqd output ON
Pause input OFF
Stop input OFF
ResetAlarm Not Set Cancel the alarm (*11)
SelAlarm1
SelAlarm2 Specify the alarm number to cancel
Not Set
SelAlarm4 (*10)
SelAlarm8
Input signal for alive monitoring of
the controller. Same signal as the
input will be output to ALIVE output.
ALIVE Not Set The master equipment can perform
alive monitoring of the controller by
switching the input periodically and
checking the output signal.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 67

Setup & Operation 12. I/O Remote Settings

(*1) “AutoMode output” ON is omitted from the table. This is an input acceptance condition for all
functions.
(*2) “Start input” executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 32.
Function name SelProg1 SelProg2 SelProg4 SelProg8 SelProg16 SelProg32
Main 0 0 0 0 0 0
Main1 1 0 0 0 0 0
Main2 0 1 0 0 0 0
Main3 1 1 0 0 0 0
..
.
Main60 0 0 1 1 1 1
Main61 1 0 1 1 1 1
Main62 0 1 1 1 1 1
Main63 1 1 1 1 1 1
0=OFF, 1=ON
(*3) “NoPause task” and “NoEmgAbort task” do not pause.
For details, refer to EPSON RC+ 7.0 Online Help or Pause in SPEL+ Language Reference.
(*4) Turns OFF the I/O output and initializes the robot parameter.
For details, refer to EPSON RC+ 7.0 Online Help or Reset in SPEL+ Language Reference.
(*5) The values specified by “SelRobot1, 2, 4, 8, and 16” correspond to the robot numbers.
Robot number SelRobot1 SelRobot2 SelRobot4 SelRobot8 SelRobot16
0 (All) 0 0 0 0 0
1 1 0 0 0 0
2 0 1 0 0 0
3 1 1 0 0 0
..
.
13 1 0 1 1 0
14 0 1 1 1 0
15 1 1 1 1 0
16 0 0 0 0 1
0=OFF, 1=ON
(*6) Initializes the robot parameter.
For details, refer to EPSON RC+ 7.0 Online Help or Motor in SPEL+ Language Reference.
(*7) For details, refer to EPSON RC+ 7.0 Online Help or MCal in SPEL+ Language Reference.
(*8) This is for experienced users only. Make sure that you fully understand the input specification before
using.
CmdRunning output and CmdError output will not change for this input.
“NoEmgAbort task” will not stop by this input.
When the input changes from ON to OFF, all tasks and commands will stop.
(*9) This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.
By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the output
condition.
Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All
manipulators are selected as default.

68 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 12. I/O Remote Settings

(*10) The values specified by “SelAlarm1, 2, 4, and 8” correspond to the alarm numbers.
Alarm # Target SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8
1 Controller battery 1 0 0 0
2 Battery of the robot connected to CU 0 1 0 0
3 Grease of the robot connected to CU 1 1 0 0
4 Battery of the robot connected to DU1 0 0 1 0
5 Grease of the robot connected to DU1 1 0 1 0
6 Battery of the robot connected to DU2 0 1 1 0
7 Grease of the robot connected to DU2 1 1 1 0
8 Battery of the robot connected to DU3 0 0 0 1
9 Grease of the robot connected to DU3 1 0 0 1
0=OFF, 1=ON
The following parts are subject to grease up.
Ball screw spline unit on the Joint # 3
(*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting
this signal.
(*12) Operation of all tasks and commands, power mode of the robot, and PowerHigh command by the setting
of the controller preferences.

Preferences (1): “Motor power low when ForcePowerLow signal OFF”

Preferences (2): “ForcePowerLow signal change pauses all tasks”
For details of the controller preferences, refer to EPSON RC+ 7.0 User’s Guide
[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System Configuration] Command
(Setup Menu).
All tasks and
Preferences (1) Preferences (2) ForcePowerLow Power mode PowerHigh
commands
0 0 1→0 Stop Low only Accept
0 0 0→1 Stop Low only Not accept
0 1 1→0 Continue High/Low Accept
0 1 0→1 Temp. stop Low only Not accept
1 0 1→0 Stop Low only Not accept
1 0 0→1 Stop Low only Accept
1 1 1→0 Temp. stop Low only Not accept
1 1 0→1 Continue High/Low Accept

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 69

Setup & Operation 12. I/O Remote Settings

12.1.2 Remote Output Signals

Remote outputs provide status for the Manipulator and Controller.
Remote outputs provide the assigned function using with any control device The outputs
execute automatically. Therefore, no special programming is needed.
Name Initial Description
Turns ON when the controller startup completes and no
Ready 0
task is running.
Turns ON when task is running.
Running 1
However, turns OFF when “Paused output” is ON.
Paused 2 Turns ON when pause task exists.
Turns ON when an error occurs.
Error 3
Use “Reset input” to recover from the error.
EStopOn 4 Turns ON at Emergency Stop.
SafeguardOn 5 Turns ON when the safeguard is open.
Turns ON when critical error occurs.
SError 6 When a critical error occurs, “Reset input” does not
function. Reboot the controller to recover.
Turns ON when warning occurs.
The task runs as normal with the warning. However, be
Warning 7
sure to eliminate the cause of the warning as soon as
possible.
MotorsOn Not set Turns ON when the motor is ON. (*5)
AtHome Not set Turns ON when the robot is in the home position. (*5)
PowerHigh Not set Turns ON when the robot’s power mode is High. (*5)
MCalReqd Not set Turns ON when the robot hasn’t executed MCal. (*5)
Turns ON when at least one robot is waiting for Recover
RecoverReqd Not set after the safeguard is closed.
RecoverInCycle Not set Turns ON when at least one robot is executing Recover.
CmdRunning Not set Turns ON when an input command is executing.
CmdError Not set Turns ON when an input command cannot be accepted.
CurrProg1
CurrProg2
CurrProg4 Indicates the running or the last main function number
Not set (*1)
CurrProg8
CurrProg16
CurrProg32
AutoMode Not set Turns ON in remote input acceptable status. (*2)
TeachMode Not set Turns ON in TEACH mode.
ErrorCode1
.
. Not set Indicates the error number.
.
ErrorCode8192
InsideBox1
. Turns ON when the robot is in the approach check area.
. Not set For details, refer to EPSON RC+ 7.0 Online Help or Box
. in SPEL+ Language Reference.
InsideBox15

70 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 12. I/O Remote Settings

Name Initial Description

InsidePlane1
. Turns ON when the robot is in the approach check plane.
. Not set For details, refer to EPSON RC+ 7.0 Online Help or
. Plane in SPEL+ Language Reference.
InsidePlane15
Alarm Not set Turns ON when any of the alarms is occurring. (*9)
Turns ON when a battery alarm of the controller is
Alarm1 Not set
occurring.
Turns ON when a battery alarm of the robot connected to
Alarm2 Not set
CU is occurring.
Turns ON when a grease alarm of the robot connected to CU
Alarm3 Not set
is occurring. (*10)
Turns ON when a battery alarm of the robot connected to
Alarm4 Not set
DU1 is occurring.
Turns ON when a grease alarm of the robot connected to
Alarm5 Not set
DU1 is occurring. (*10)
Turns ON when a battery alarm of the robot connected to
Alarm6 Not set
DU2 is occurring.
Turns ON when a grease alarm of the robot connected to
Alarm7 Not set
DU2 is occurring. (*10)
Turns ON when a battery alarm of the robot connected to
Alarm8 Not set
DU3 is occurring.
Turns ON when a grease alarm of the robot connected to
Alarm9 Not set
DU3 is occurring. (*10)
Outputs current X coordinate in the World coordinate
PositionX Not set
system (*6) (*7)
Outputs current Y coordinate in the World coordinate
PositionY Not set
system (*6) (*7)
Outputs current Z coordinate in the World coordinate system
PositionZ Not set
(*6) (*7)
Outputs current U coordinate in the World coordinate
PositionU Not set
system (*6) (*7)
Outputs current V coordinate in the World coordinate
PositionV Not set
system (*6) (*7)
Outputs current W coordinate in the World coordinate
PositionW Not set
system (*6) (*7)
Torque1 Not set Outputs the current torque value of Joint #1 (*6) (*7)
Torque2 Not set Outputs the current torque value of Joint #2 (*6) (*7)
Torque3 Not set Outputs the current torque value of Joint #3 (*6) (*7)
Torque4 Not set Outputs the current torque value of Joint #4 (*6) (*7)
Torque5 Not set Outputs the current torque value of Joint #5 (*6) (*7)
Torque6 Not set Outputs the current torque value of Joint #6 (*6) (*7)
CPU Not set Outputs the CPU load factor of the user program (*8)
Outputs how many times emergency stops have been
ESTOP Not set
executed.
Output signal for alive monitoring of the controller. The
signal input by ALIVE input will be output. The master
ALIVE Not set equipment can perform alive monitoring of the controller
by switching the input periodically and checking the
output signal.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 71

Setup & Operation 12. I/O Remote Settings

(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.
Function name CurrProg1 CurrProg2 CurrProg4 CurrProg8 CurrProg16 CurrProg32
Main 0 0 0 0 0 0
Main1 1 0 0 0 0 0
Main2 0 1 0 0 0 0
Main3 1 1 0 0 0 0
..
.
Main60 0 0 1 1 1 1
Main61 1 0 1 1 1 1
Main62 0 1 1 1 1 1
Main63 1 1 1 1 1 1
0=OFF, 1=ON
(*2) Remote function is available in the followings conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
(*3) For details, refer to EPSON RC+ 7.0 Online Help or Box in SPEL+ Language Reference.
(*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL+ Language Reference.
(*5) Manipulator status is output as follows, according to the condition selected in SelRobot.
Wait at least 40 ms before inputting the signal after changing the condition in SelRobot.

(SelRobot1- SelRobot16) condition when inputting SelRobot

Name
0: All robots are selected 1 - 16: Particular robot number is selected
Turns ON when at least one motor is Turns ON when the motor of the selected robot
MotorsOn
ON. is ON.
Turns ON when all robots are in the Turns ON when the selected robot is in the home
AtHome
home position. position.
Turns ON when at least one robot’s Turns ON when the selected robot’s power
PowerHigh
power mode is High. mode is High.
Turns ON when at least one robot hasn’t Turns ON when the selected robot hasn’t
MCalReqd
executed MCal. executed MCal.
(*6) Outputs information of the selected robot when SelRobot1, SelRobot2, SelRobot4, SelRobot8, and
SelRobot16 are set. If not, information of Robot 1 will be output.
(*7) Outputs information in Real format.
(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the
task manager.
(*9) The signal turns on when the alarm occurs either in the controller alarm information or the robot alarm
information.
(*10) The following parts are subject to grease up.
Ball screw spline unit on the Joint # 3

72 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 12. I/O Remote Settings

12.2 Timing Specifications

12.2.1 Design Notes for Remote Input Signals
The following charts indicate the timing sequences for the primary operations of the
Controller.
The indicated time lapses (time durations) should be referred to only as reference values
since the actual timing values vary depending on the number of tasks running, as well as
CPU speed of the Controller. Check carefully and refer to the following charts for the
timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a
time, otherwise an error will occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.
[Unit: msec]
12.2.2 Timing Diagram for Operation Execution Sequence

MotorsOn 940
Output 924
AtHome
Output Depending on
HOME motion
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input

12.2.3 Timing Diagram for Program Execution Sequence

Ready 17
162
Output
CurrProg1 13
Output
17 107 16
Running
Output 162
* Paused 107 15
Output

SelProg1
Input
Start
Input
Pause
Input
Continue
Input
Stop
Input
* The duration varies depending on the Quick Pause (QP) setting and the program’s
operating status at the time of Pause input

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 73

Setup & Operation 12. I/O Remote Settings

12.2.4 Timing Diagram for Safety Door Input Sequence

Running 1052 11
Output
Paused 1052 11
Output
SafeguardOn 8 9
Output
MotorsOn 500
928
Output

Safety Input

Latch Input

Continue
Input

12.2.5 Timing Diagram for Emergency Stop Sequence

Running
Output 920
7
MotorsOn
Output
EStopOn 5
Output

Emergency Input 9

Reset
Input

74 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13. Option Slots

13.1 About Option Slots
Use the Option Slot to install the optional boards of RC90 / RC90-B Controller.
Up to two option boards can be installed in the controller. The types of the option boards
are as follows:
13.2 Expansion I/O Board
13.3 Fieldbus I/O Board
13.4 RS-232C Board
13.5 Analog I/O Board
13.6 EUROMAP67 Board

13.2 Expansion I/O Board

13.2.1 About Expansion I/O Board
Each additional expansion I/O board provides 24 inputs and 16 outputs.
You can install up to two expansion I/O boards in the controller.
The input and output bit numbers are assigned as follows. (Bit number is assigned from
CN1.)
Input Bit # Output Bit # Applicable Hardware
0 to 23 0 to 15 STANDARD I/O
64 to 87 64 to 79 The 1st Expansion I/O board
96 to 119 96 to 111 The 2nd Expansion I/O board

13.2.2 Board Configuration (Expansion I/O)

Board Appearance Switch and Jumper Configuration
Setup the DSW1 and DSW2. CN3 is all open.
1st board 2nd board
SW1 SW1
SW2 SW2
SW3 SW3
DSW1
DSW1

SW4 SW4
SW5 SW5
SW6 SW6
SW7 SW7
CN3 SW8 SW8

SW1 SW1
DSW2

DSW1
DSW2

SW2 SW2
SW3 SW3
SW4 SW4
DSW2
2
2

1
1

CN3
CN3

9
9

10
10

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 75

Setup & Operation 13. Option Slots

13.2.3 Confirmation with EPSON RC+ 7.0

When an expansion I/O board is mounted to the option unit, the Controller software
automatically identifies the expansion I/O board. Therefore, no software configuration is
needed.
Correct identification can be confirmed from EPSON RC+ 7.0.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the
[System Configuration] dialog.

(2) Select [Controller]-[Inputs / Outputs].

(3) Make sure that “Yes” is displayed in the Installed column.
The expansion I/O board is identified by the Controller software. Corresponding
Input and Output is available.

13.2.4 Input Circuit

Input Voltage Range : + 12 V to 24 V ±10%
ON Voltage : + 10.8 V (Min.)
OFF Voltage : + 5 V (Max.)
Input Current : 10 mA (TYP) at + 24 V input
Two types of wiring are available for use with the two-way photo coupler in the input
circuit.

76 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

Typical Input Circuit Application 1

Expansion I/O board-1

GND +DC
1 Input No.64 to 71 common

2 Input No.64

(Same) 3 Input No.65

(Same) 4 Input No.66

(Same) 5 Input No.67

(Same) 6 Input No.68

(Same) 7 Input No.69

(Same) 8 Input No.70

(Same) 9 Input No.71

18 Input No.72 to 79 common

(Same) 19 Input No.72

20 Input No.73

Omit

Typical Input Circuit Application 2

Expansion I/O board -1
GND +DC
1 Input No.64 to 71 common

2 Input No.64

(Same) 3 Input No.65

(Same) 4 Input No.66

(Same) 5 Input No.67

(Same) 6 Input No.68

(Same) 7 Input No.69

(Same) 8 Input No.70

(Same) 9 Input No.71

18 Input No.72 to 79 common

(Same) 19 Input No.72

20 Input No.73

Omit

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 77

Setup & Operation 13. Option Slots

13.2.5 Output Circuit

Rated Output Voltage : +12 V to 24 V ±10%
Maximum Output Current : TYP 100 mA/1 output
Output Driver : Photo coupler
■ The output circuit has two types: Sink type and Source type. The either type
has been configured in the controller before the shipment. Before routing the
cables, make sure that the I/O output type of your controller conforms to the
external connection devices.
If you route the cables with wrong output type, the parts on the board will be
broken and the robot system won’t operate normally.
■ Use the wiring diagram of 2: Source Type for CE conformance. Be sure to wire
CAUTION correctly. Improper wiring may cause safety problems as it may make the
Manipulator move unusually.
■ Be sure to wire the output circuit properly because it has no protection circuitry
for short-circuit and reverse-connection. Improper wiring may cause
malfunction of the parts on the board and then improper function of the robot
system.

78 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

Typical Output Circuit Application 1: Sink Type

GND +DC

10 Output No.64
L

11 Output No.65
(Same) L

12 Output No.66
(Same)

13 Output No.67
(Same)
14 Output No.68
(Same)
15 Output No.69
(Same)
27 Output No.70
(Same)
28 Output No.71
(Same) 17 Output No.64 to 71 Common (GND)

29 Output No.72
L

30 Output No.73

～
～～ ～
Omit

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 79

Setup & Operation 13. Option Slots

Typical Output Circuit Application 2: Source Type

GND +DC
17 Output No.64 to 71 Common

10 Output No.64
L

(Same) 11 Output No.65

L
12 Output No.66
(Same)
13 Output No.67
(Same)
14 Output No.68
(Same)
15 Output No.69
(Same)
27 Output No.70
(Same)
28 Output No.71
(Same)

33 Output No.72 to 79 Common

29 Output No.72
L

30 Output No.73

～ ～ ～
Omit
～

80 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.2.6 Pin Assignments

Pin Assignment table of the 1st Expansion I/O board.

Connector 1 Pin Assignments

Pin Pin Pin
Signal Name Signal Name Signal Name
No. No. No.
1 Input common No.64 to 71 18 Input common No.72 to 79 34 Input common No.80 to 87
2 Input No.64 19 Input No.72 35 Input No.80
3 Input No.65 20 Input No.73 36 Input No.81
4 Input No.66 21 Input No.74 37 Input No.82
5 Input No.67 22 Input No.75 38 Input No.83
6 Input No.68 23 Input No.76 39 Input No.84
7 Input No.69 24 Input No.77 40 Input No.85
8 Input No.70 25 Input No.78 41 Input No.86
9 Input No.71 26 Input No.79 42 Input No.87
10 Output No.64 27 Output No.70 43 Output No.75
11 Output No.65 28 Output No.71 44 Output No.76
12 Output No.66 29 Output No.72 45 Output No.77
13 Output No.67 30 Output No.73 46 Output No.78
14 Output No.68 31 Output No.74 47 Output No.79
15 Output No.69 32 Not Used 48 Not Used
16 Not Used 33 Output common No.72 to 79 49 Not Used
17 Output common No.64 to 71 50 Not Used

Connector Standard
D-sub 50 male pin
I/O Connector (Controller side)
Mounting style #4 - 40
* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 81

Setup & Operation 13. Option Slots

13.3 Fieldbus I/O Board

Refer to the following manual.
Robot Controller RC700/RC90 option Filedbus I/O

13.4 RS-232C Board

13.4.1 About the RS-232C Board
One standard RS-232C port is not available with the Controller.
You need to mount the RS-232C board in the Option Slot to communicate with external
equipment using two or more port RS-232C.
The RS-232C board accepts two ports expansion per board. A maximum of two boards,
four ports expansion is available for RS-232C board.
Port numbers are assigned as follows.
Port No. Supported hardware
#2, #3 First RS-232C board
#4, #5 Second RS-232C board

13.4.2 Board Setup

Board Appearance Switch and Jumper Configuration
CN3 Set DSW1, DSW2 and JMP1.
CN3 is all open.
1st board 2nd board
CN5
(#2 or #4)
JMP1 CN4 IRQ5 JP1 IRQ5 JP1

JMP1
JMP1

IRQ7 JP2 IRQ7 JP2

(#3 or #5) IRQ10 JP3 IRQ10 JP3
DSW1 IRQ11 JP4 IRQ11 JP4
CN1 DSW2 IRQ15 JP5 IRQ15 JP5

SW1 SW1
SW2 SW2
DSW1

SW3 SW3
DSW1

SW4 SW4
SW5 SW5
SW6 SW6
SW7 SW7
SW8 SW8

SW1 SW1
DSW2
DSW2

SW2 SW2
SW3 SW3
SW4 SW4
2
1

2
1
CN3

CN3
9
10

9
10

82 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.4.3 Confirmation with EPSON RC+ 7.0 (RS-232C)

When an RS-232C board is mounted in as option unit, the Controller software
automatically identifies the RS-232C board. Therefore, no software configuration is
needed. Correct identification can be confirmed from EPSON RC+ 7.0.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the
[System Configuration] dialog.

(2) Select the [RS232]-[RS232].

13.4.4 RS-232C Software Communication Setup (RS-232C)

Available communication settings are as follows.
Item Specification
Baud Rates 110, 300, 600, 1200, 2400, 4800, 9600,
14400, 19200, 38400, 57600, 115200
Data bit length 7, 8
Stop bit length 1, 2
Parity Odd, even, NA
Terminator CR, LF, CRLF

Refer to EPSON RC+ 7.0 Online Help or Users Guide – 13. RS-232C Communications for
RS-232C communication from the Robot application.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 83

Setup & Operation 13. Option Slots

13.4.5 Communication Cable (RS-232C)

Prepare a communication cable as described in this section.
Connector Standard
RS-232C Connector D-sub 9 male pin
(Controller side) Mounting style #4 - 40

NOTE Use twisted pair cable for shielded wire.

 Clamp the shield to the hood for noise prevention.
Pin assign of the RS-232C connector is as follows.
Pin No Signal Function Signal Direction
1 DCD Data carrier detect Input
2 RXD Receive data Input
3 TXD Send data Output
4 DTR Terminal ready Output
5 GND Signal ground -
6 DSR Data set ready Input
7 RTS Request to send Output
8 CTS Clear to send Input
9 RI Ring indicator Input

84 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.5 Analog I/O Board

13.5.1 About Analog I/O Board

Analog input/output function is available when mounting analog I/O board to the option
slot. You can install a maximum of four analog I/O boards in the option slot.
Analog I/O Board (1CH): “DAC: 1ch” is available for one board.
Analog I/O Board (4CH): “DAC: 2ch, ADC: 2ch” is available for one board.

DAC: Analog signal output (voltage/current)

ADC: Analog signal input (voltage/current)

Connection Example of Analog I/O Board (4CH)

Robot Controller

MC Signal
PC for Analog I/O Board 4CH
(Optional Board) MC Power Manipulator
Development
ADC CH2 DAC CH2 ADC CH1 DAC CH1

External
equipment 1 *

External
equipment 2 *

External
equipment 3 *

External
equipment 4 *

*: Voltage/Current Input

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 85

Setup & Operation 13. Option Slots

Overview of Analog I/O Board Circuit

Rv: Voltage Input Terminating Resistance (100kΩ),

13.5.2 Board Configuration (Analog I/O Board)

86 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

Configuration of Switch and Jumper

(1) Address Configuration (SW1): Address of the option board

Configuration S1 S2 S3 S4 S5 S6 S7 S8
SW1
The first

ON
Off Off On Off Off Off Off Off S1

1 2 3 4 5 6 7 8
board
S2
The second S3
Off On Off Off Off Off Off Off
board S4
The third S5
On Off Off Off Off Off Off Off
board S6
The fourth S7
Off Off Off Off Off Off Off Off S8
board

S5 to S8: Not used. Please turn them OFF.

(2) Analog Output: Configuration

Voltage Current Switching Switch (SWD1): Voltage/current output
Range Switching Switch (SWD2): Output range
Range SWD1 (voltage current switching) SWD2 (range switching)
Channel Output Mode
Configuration S1 S2 S3 S4 S1 S2 S3 S4
±5V On On On
Voltage
±10V On On Off
output
mode 0~5V On Not Not Not Off On Not Not
DAC 1ch 0~10V * On Off Off
Use Use Use Use Use
Current 0~20mA Off On On
output
4~20mA Off Off Off
mode
±5V On On On
Voltage
±10V On On Off
output
mode 0~5V On Off On
Not Not Not Not Not
DAC 2ch 0~10V * On Off Off
Use Use Use Use Use
0~20mA Off On On
Current
output mode 4~20mA Off Off Off

*: Default: DAC default configuration (voltage output: 0 to 10V)

SWD1 SWD2
ON

ON

S1 S1
1 2 3 4

1 2 3 4

S2 S2
S3 S3
S4 S4

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 87

Setup & Operation 13. Option Slots

(3) Analog Input: Configuration

Voltage Current Switching Jumper (CN8/CN9): Current input/voltage input
1-2 pin short: Voltage input configuration
2-3 pin short: Current input configuration
Voltage Current Switching Switch (SWD1): Voltage/current input
Range Switching Switch (SWD3): Input range

SWD1(voltage current switching) CN9

CN8
Range (voltage
Channel Input Mode (voltage current
Configuration S1 S2 S3 S4 current
switching)
switching)
±5.12V On 1-2 short
Voltage ±10.24V On 1-2 short
Input Mode 0 to 5.12V Not Not On 1-2 short
ADC 1ch Not Use Not Use
0 to 10.24V * Use Use On 1-2 short
Current
0 to 24mA Off 2-3 short
Input Mode
±5.12V On 1-2 short
Voltage ±10.24V On 1-2 short
Input Mode 0 to 5.12V Not Not Not On 1-2 short
ADC 2ch Not Use
0 to 10.24V * Use Use Use On 1-2 short
Current
0 to 24mA Off 2-3 short
Input Mode

Range SWD3 (range switching)

Channel Input Mode SWD4
Configuration S1 S2 S3 S4
±5.12V On On
Voltage ±10.24V On Off
Input Mode 0 to 5.12V Off On
ADC 1ch Not Use Not Use Off
0 to 10.24V * Off Off
Current
0 to 24mA Off On
Input Mode
±5.12V On On
Voltage ±10.24V On Off
Input Mode 0 to 5.12V Off On
ADC 2ch Not Use Not Use Off
0 to 10.24V * Off Off
Current
0 to 24mA Off On
Input Mode
SWD4: Not used. Please turn them OFF.
*: Default: ADC default configuration (voltage input: 0 to 10.24V)
SWD1 SWD3 SWD4
ON

ON

ON

S1 S1 S1
1 2 3 4

1 2 3 4

1 2 3 4

S2 S2 S2
S3 S3 S3
S4 S4 S4

88 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

(4) Shield Configuration

“Frame Ground” and “User Ground” of the shield: CN4, CN5, CN6, and CN7
1-2 pin short : Frame ground (FG) shield configuration.
When you want to spread the shield noise to the robot
controller side.
2-3 pin short : User ground (UG) shield configuration.
When you want to insulate the shield by external connection
device and robot controller.
Or when you want to spread the shield noise to the external
connection device side.
User Ground (UG): Analog ground (AGND) on the external connection device side.
Frame Ground (FG): Digital ground (DGND) inside the robot controller.

Channel Configuration CN4 CN5 CN6 CN7

FG Shield* 1-2 short

DAC1ch Not Use Not Use Not Use
UG Shield 2-3 short
FG Shield * 1-2 short
DAC2ch Not Use Not Use Not Use
UG Shield 2-3 short
FG Shield * 1-2 short
ADC1ch Not Use Not Use Not Use
UG Shield 2-3 short
FG Shield * 1-2 short
ADC2ch Not Use Not Use Not Use
UG Shield 2-3 short

*: Default
13.5.3 Confirmation with EPSON RC+ (Analog I/O Board)
The Controller software automatically identifies the analog I/O board when mounting
analog I/O board to the optional unit of the controller. Therefore, no software
configuration is needed.

Correct identification can be confirmed from EPSON RC+.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the
[System Configuration] dialog.

(2) Select [Controller]-[Inputs / Outputs]-[Analog I/O].

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 89

Setup & Operation 13. Option Slots

13.5.4 Input Circuit (Analog I/O Board)

Input resolution : 16 bit
Input range : voltage input: 0 to 5.12V, 0 to 10.24V, ±5.12V, ±10.24V
current input: 0 to 24mA
Input impedance : 100kΩ (±5%)
Absolute rated voltage of input pins
: ±11V
Insulation specification : insulation between channels, bus insulation

13.5.5 Output Circuit (Analog I/O Board)

Output resolution : 16 bit
Output range : voltage output: 0 to 5V, 0 to 10V, ±5V, ±10V
current output: 0 to 20mA, 4 to 20mA
Output impedance : 2Ω (TYP)
Absolute rated voltage of output pins
: ±11V
Insulation specification : insulation between channels, bus insulation

■ Analog input/output may not function properly if performing improper wiring or

configuration.
■ Operating under external noise may affect to the analog input/output. Make
sure the noise environment such as weather the shield is securely removed.
■ Use the shield/twist cable.

CAUTION ■ Never apply a voltage or current which is out of input/output range to the
analog input/output pin. Applying a voltage more than ±11V may result in
malfunction of the board.
■ Improper wiring or short circuit may cause malfunction of the parts on the
board and then improper function of the robot system.

90 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.5.6 Pin Assignments (Analog I/O Board)

1CH Specifications
Signal Signal Signal Signal
1 VOUT (DAC 1ch) 20 Shield (DAC 1ch)
2 COM (DAC 1ch) 21 IOUT (DAC 1ch)
3 Shield (DAC 1ch) 22 COM (DAC 1ch)
4 Not Used 23 Not Used
5 Not Used 24 Not Used
6 Not Used 25 Not Used
7 Not Used 26 Not Used
8 Not Used 27 Not Used
9 Not Used 28 Not Used
10 Not Used 29 Not Used
11 Not Used 30 Not Used
12 Not Used 31 Not Used
13 Not Used 32 Not Used
14 Not Used 33 Not Used
15 Not Used 34 Not Used
16 Not Used 35 Not Used
17 Not Used 36 Not Used
18 Not Used 37 Not Used
19 Not Used

4CH Specifications
Signal Signal Signal Signal
1 VOUT (DAC 1ch) 20 Shield (DAC 1ch)
2 COM (DAC 1ch) 21 IOUT (DAC 1ch)
3 Shield (DAC 1ch) 22 COM (DAC 1ch)
4 Not Used 23 Not Used
5 Not Used 24 Not Used
6 Not Used 25 Not Used
7 VIN (ADC 1ch) 26 Shield (ADC 1ch)
8 COM (ADC 1ch) 27 Not Used
9 Not Used 28 Not Used
10 Not Used 29 Not Used
11 VOUT (DAC 2ch) 30 Shield (DAC 2ch)
12 COM (DAC 2ch) 31 IOUT (DAC 2ch)
13 Shield (DAC 2ch) 32 COM (DAC 2ch)
14 Not Used 33 Not Used
15 Not Used 34 Not Used
16 Not Used 35 Not Used
17 Not Used 36 Not Used
18 VIN (ADC 2ch) 37 Shield (ADC 2ch)
19 COM (ADC 2ch)

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 91

Setup & Operation 13. Option Slots

13.6 EUROMAP67 Board

EUROMAP67 is a standardized interface for communications between
Western-manufactured injection molding machines (IMM) and robots.

List of accessories
Parts Code Parts Note
EUROMAP67 Cable1 Emergency Stop cable
(CN2)
CN2

2194667

EUROMAP67 Cable2 Connection cable

Robot Controller(CN1)
- IMM(CN4)

2194667 CN1 CN4

For emergency stop switch

2165789 EUROMAP67Emergency Connector Plug wiring
Soldering plug (CN3)
For emergency stop switch
EUROMAP67Emergency Connector wiring
2194882
Shell
Shell kit (CN3)

Wire the emergency stop switch wiring connector (CN3).

Reference: Setup & Operation 9. EMERGENCY

The connector signal placement is described below.

Setup & Operation 13.6.11 Emergency stop connecter Pin Assignments

List of connectors used

Connecter No. Manufacturer Model
CN1 JAE DD-50PF-N
CN2 3M 10126-3000PE, 10326-52K0-008
CN3 (accessory) 3M 10136-3000PE, 10336-52K0-008
T1319320125-000 / T2020252201-000 /
CN4 Tyco
T2020252101-000

92 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

Connection outline

(IMM: Injection Molding Machine)

13.6.1 Notes on the EUROMAP67 Board
The EUROMAP67 board contains 15 inputs and 16 outputs on a single substrate.

You can install up to one EUROMAP67 board in the controller.

The input and output bit numbers are assigned as follows.

Input Bit # Output Bit # Supported Hardware
192 to 206 192 to 208 The 1st EUROMAP67 board

Outputs No.205 and No.237 are not used. However, the EUROMAP standard describes
that they may potentially be used in the future.

EUROMAP67 pin definitions

EUROMAP connecter
Signal Name Note
(CN4) Pin No.
ZA1
Emergency stop of machine channel1
ZC1
ZA2
Emergency stop of machine channel2
ZC2
ZA3
Safety devices of machine channel1
ZC3
ZA4
Safety devices of machine channel2
ZC4
ZA5 Reject I/O Input (*1)
ZA6 Mold closed I/O Input (*1)
ZA7 Mold open position I/O Input (*1)
ZA8 Intermediate mold opening position I/O Input (*1)
24V DC
ZA9 Supply from handling device / robot
(Robot → IMM)
ZB2 Enable operation with handing device / robot I/O Input (*1)
ZB3 Ejector back position I/O Input (*1)
ZB4 Ejector forward position I/O Input (*1)

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 93

Setup & Operation 13. Option Slots

EUROMAP connecter
Signal Name Note
(CN4) Pin No.
ZB5 Core pullers 1 in position 1 I/O Input (*1)
ZB6 Core pullers 1 in position 2 I/O Input (*1)
ZB7 Core pullers 2 in position 1 I/O Input (*1)
ZB8 Core pullers 2 in position 2 I/O Input (*1)
ZC5 Reserved for future use by EUROMAP I/O Input (*1)
ZC6 Reserved for future use by EUROMAP I/O Input (*1)
ZC7 Reserved for future use by EUROMAP I/O Input (*1)
Not fixed by EUROMAP, manufacturer
ZC8 I/O Input (*1)
dependent
ZC9 Supply from handling device / robot 0V (Robot → IMM)
A1
Emergency stop of robot channel1
C1
A2
Emergency stop of robot channel2
C2
A3
Mold area free
C3
A4
Reserved for future use by EUROMAP
C4
Not fixed by EUROMAP, manufacturer
A5 I/O Input (*1)
dependent
A6 Enable mold closure I/O Input (*1)
A7 Enable full mold opening I/O Input (*1)
A8 Reserved for future use by EUROMAP I/O Input (*1)
24V DC
A9 Supply from IMM (*1)
(IMM → Robot)
B2 Robot operation mode I/O Input (*1)
B3 Enable ejector back I/O Input (*1)
B4 Enable ejector forward I/O Input (*1)
B5 Enable movement of core pullers 1 to position 1 I/O Input (*1)
B6 Enable movement of core pullers 1 to position 2 I/O Input (*1)
B7 Enable movement of core pullers 2 to position 1 I/O Input (*1)
B8 Enable movement of core pullers 2 to position 2 I/O Input (*1)
Not fixed by EUROMAP, manufacturer
C5 I/O Input (*1)
dependent
C6 Reserved for future use by EUROMAP I/O Input (*1)
C7 Reserved for future use by EUROMAP I/O Input (*1)
Not fixed by EUROMAP, manufacturer
C8 I/O Input (*1)
dependent
C9 Supply from IMM 0V (IMM → Robot)

*1: DO NOT input a voltage which exceeds 24V. Board may get damage and burnout.

94 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.6.2 Board Settings (EUROMAP67 Board)

Configure DIP-Switch (SW1) to enable the robot controller to recognize the
EUROMAP67 board.
Board Appearance Switch setting: Setup the DSW1

SW1

13.6.3 Installation (EUROMAP67 Board)

(1) Turn OFF the Controller.
(2) Disconnect the power plug.
(3) Remove the Top Panel. (Mounting screw ×10)
(4) Insert the EUROMAP67 board into slot.
(5) Use four screws to fix the EUROMAP67 board in place.
First, temporarily fasten the four screws in place. Next, fully tighten screws located
diagonally opposite each other.
Take care not to damage the thread holes when doing so.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 95

Setup & Operation 13. Option Slots

(6) Connect “Cable1 CN2”.

Use a cross-point screwdriver to fasten the connector (CN2).
Connect Cable1 to the emergency connecter.

(7) Refer to the following to connect CN3 to the emergency stop switch (emergency stop,
safety door, latch).
Setup & Operation 9. EMERGENCY
(8) Connect “CN3”.
Use a cross-point screwdriver to fasten the connector (CN3).
(9) Connect “Cable2 CN1”.
Use a cross-point screwdriver to fasten the connector (CN1).

(10) Mount the Top Panel. (Mounting screw ×10)

(11) Connect “Cable2 CN4” to the IMM.
(12) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

96 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.6.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board)

The controller software will automatically recognize the EUROMAP67 board when
attaching it to the optional unit. This eliminates the need to configure software settings.

You can check whether the software has correctly recognized the EUROMAP67 interface
on the EPSON RC+ 7.0 screen.
(1) Select EPSON RC+ 7.0 menu - [Setup] - [System Configuration] to display the
[System Configuration] dialog box.

(2) Select [Controller] - [Input/Output].

(3) Check that the [Installed] is “Yes”.
The EUROMAP67 board has been recognized by the controller software.
You can now select the compatible inputs and outputs to use.

13.6.5 Sample Project (EUROMAP67 Board)

You can use a sample project of EUROMAP 67 board.
The following describes procedures to use the sample project.
(1) Select EPSON RC+ 7.0 menu - [Project]-[Open..].
(2) Select [Projects] - [Samples] - [Euromap67Demo1].
(3) Click the <Open> button.
(4) Modify the project depending on the IMM.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 97

Setup & Operation 13. Option Slots

13.6.6 Circuit Overview (EUROMAP67 Board)

EUROMAP67 Board: System diagram

98 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.6.7 Input Circuit (EUROMAP67 Board)

Input Voltage Range : + 12 to 24 V ±10 %
ON Voltage : + 10.8 V (MIN.)
OFF Voltage : + 5 V (MAX.)
Input Current : 10 mA TYP / + 24 V input

13.6.8 Output Circuit (EUROMAP67 Board)

Rated Output Voltage : + 12 V to 24 V ± 10 %
Maximum Output Current : TYP 100 mA / 1 output
Output Driver : PhotoMOS relay
On-resistance (average) : 23.5Ω or less

EUROMAP67 board input/output circuit overview

 Input/output circuits do not have a built-in protection circuit to prevent short

circuits or reverse connections.
Take care to avoid wiring mistakes.
Wiring mistakes may damage board parts and prevent the robot system from
functioning properly.
 Do not use a higher than rated voltage or current.
CAUTION
Doing so may damage board parts and prevent the robot system from functioning
properly.
 Note that the I/O logic for controlling the IMM will vary depending on the molding
machine. Confirm the proper logic to use before creating programs.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 99

Setup & Operation 13. Option Slots

13.6.9 Emergency Stop, Safeguard (EUROMAP67 Board)

When the emergency stop switch is held down on the robot controller:
A function is used to communicate the emergency stop instruction to the IMM.
The emergency stop instruction is communicated using a safety relay. A deposition
detection function is also provided.
→ When deposition is detected, the robot controller will set the emergency stop
instruction communicated to the IMM to OPEN.
When an emergency stop occurs on the IMM side:
A function is used to communicate the emergency stop instruction to the robot
controller.
When the safety door has been opened on the IMM side:
A function is used to communicate the open safeguard instruction to the robot
controller.

EUROMAP67 Board: Overview of Emergency stop circuit

EUROMAP67 Board: Overview of Safety Door circuit

100 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Setup & Operation 13. Option Slots

13.6.10 I/O Pin Assignments (EUROMAP67 Board)

D-Sub connecter (CN1) EUROMAP67 connecter (CN4)
Signal Name
Pin No. Pin No.
Input No.192 33 ZA5 (*1)
Input No.193 32 ZA6 (*1)
Input No.194 50 ZA7 (*1)
Input No.195 49 ZA8 (*1)
Input No.196 48 ZB2 (*1)
Input No.197 47 ZB3 (*1)
Input No.198 31 ZB4 (*1)
Input No.199 30 ZB5 (*1)
Input No.200 15 ZB6 (*1)
Input No.201 14 ZB7 (*1)
Input No.202 46 ZB8 (*1)
Input No.203 45 ZC5 (*1)
Input No.204 29 ZC6 (*1)
Input No.205 28 ZC7 (*1)
Input No.206 13 ZC8 (*1)
Output No.192 41 A6 (*1)
Output No.193 7 A7 (*1)
Output No.194 8 A8 (*1)
Output No.195 24 B2 (*1)
Output No.196 25 B3 (*1)
Output No.197 42 B4 (*1)
Output No.198 43 B5 (*1)
Output No.199 9 B6 (*1)
Output No.200 10 B7 (*1)
Output No.201 26 B8 (*1)
Output No.202 27 C6 (*1)
Output No.203 11 C7 (*1)
A3/C3
Output No.204 4/3
(ModuleArea+/ModuleArea-)
Output No.205
37/36 A4/C4 (Not Used)
(Not Used)
Output No.206 12 C8 (*1)
Output No.207 40 A5 (*1)
Output No.208 44 C5 (*1)
24V (IMM) 1 A9 (*1)
GND (IMM) 2 C9 (*1)
Emergency1 (IMM) 39/38 ZA1/ZC1
Emergency2 (IMM) 21/20 ZA2/ZC2
Safety1 (IMM) 6/5 ZA3/ZC3
Safety2 (IMM) 23/22 ZA4/ZC4
24V (Robot) 17 ZA9
GND (Robot) 16 ZC9
Emergency1 (Robot) 35/34 A1/C1
Emergency2 (Robot) 19/18 A2/C2
*1: DO NOT input a voltage which exceeds 24V. Board may get damage and burnout.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 101

Setup & Operation 13. Option Slots

13.6.11 Emergency stop connecter Pin Assignments

(EUROMAP67 Board)
Emergency stop connecter (CN3) Pin Assignment table of the EUROMAP67 board.
Emergency stop connecter
Signal Name Function
(CN3) Pin No.
Emergency Stop switch
1 ESW11
contact
Emergency Stop switch
2 ESW12
contact
3 ESTOP1+ Emergency Stop circuit 1+
4 ESTOP1- Emergency Stop circuit 1-
5 Not Used -
6 Not Used -
7 SD11 Safety Door input 1
8 SD12 Safety Door input 1
9 24V 24V output
10 24V 24V output
11 24VGND 24VGND output
12 24VGND 24VGND output
13 Not Used -
Emergency Stop switch
14 ESW21
contact
Emergency Stop switch
15 ESW22
contact
16 ESTOP2+ Emergency Stop circuit 1+
17 ESTOP2- Emergency Stop circuit 1-
18 SDLATCH1 Safety Door Latch Release
19 SDLATCH2 Safety Door Latch Release
20 SD21 Safety Door input 2
21 SD22 Safety Door input 2
22 24V 24V output
23 24V 24V output
24 24VGND 24VGND output
25 24VGND 24VGND output
26 Not Used -
27 Not Used -
28 Not Used -
29 Not Used -
30 Not Used -
31 Not Used -
32 Not Used -
33 Not Used -
34 Not Used -
35 Not Used -
36 Not Used -

102 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

Maintenance
This section contains maintenance procedures for
the Robot Controller.

7
 Maintenance 1. Safety Precautions on Maintenance

1. Safety Precautions on Maintenance

1.1 Safety Precautions
■ Only authorized personnel who have taken the safety training should be allowed
to execute teaching or calibration of the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation. The personnel who have taken the safety
training acquire knowledge of industrial robots (operations, teaching, etc.).
The personnel who have completed the robot system-training class held by the
manufacturer, dealer, or locally-incorporated company are allowed to maintain
the robot system.
■ Only authorized personnel who have taken the safety training should be allowed
to maintain the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation.
The personnel who have taken the safety training acquire knowledge of industrial
robots (operations, teaching, etc.), knowledge of inspections, and knowledge of
related rules/regulations.
WARNING
The personnel who have completed the robot system-training and
maintenance-training classes held by the manufacturer, dealer, or
locally-incorporated company are allowed to maintain the robot system.
Make sure to use only dedicated/specified maintenance parts especially for the
optional boards or any other parts in the Controller to be replaced. Using
non-specified parts may cause serious damage to the robot system and/or
serious safety problems.
■ Do not remove any parts that are not covered in this manual. Follow the
maintenance procedure strictly as described in this manual. Do not proceed
using any methods other than described in this manual when you do replace a
part or maintain the equipment. Improper removal of parts or improper
maintenance may cause not only improper function of the robot system but also
serious safety problems.

■ Before performing any maintenance procedure, always make sure that the main
power of the Controller is turned OFF, disconnect the power supply, and that the
high voltage charged area is completely discharged. Performing any
maintenance procedure while the main power is ON or the high voltage charged
WARNING area isn’t discharged completely is extremely hazardous and may result in
electric shock and/or cause serious safety problems.

■ Do not touch the Motor Driver modules and Switching Power Supply directly in the
Controller. The metal resistance of these can become very hot and may result in
a burn. If you maintain them, examine the surface temperatures and wear
protective gloves if necessary.
CAUTION ■ Do not shock, shake, or drop any parts during maintenance. When the parts
related with data are shocked physically, they may be damaged and may also
cause data loss during data loading/saving.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 105

Maintenance 1. Safety Precautions on Maintenance

■ Do not lose the screws removed at maintenance. When the screw is dropped
into the Controller, be sure to take it out. Leaving the screw in the Controller
may cause short circuit and may result in equipment damage to the parts and/or
robot system.
■ Make sure that the power rating (wattage) of a new Motor Driver module is
correct. Using a Motor Driver module with improper power rating (wattage) in
the Controller may cause improper function of the robot system and errors.
CAUTION
■ The serial number of the Manipulator that should be connected is indicated on
the Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
Manipulator may cause not only improper function of the robot system but also
serious safety problems.

NOTE Before performing maintenance on the Controller, all the data must be copied as a backup.

 The details of data backup/restore are described in the Maintenance 4. Backup and
Restore.

1.2 Lockout / Tagout

Lockout / tagout is a method to prevent anyone from turning ON the robot system by
mistake while someone else is within the safeguarded area for maintenance or repair.
When performing maintenance and repair, lockout and tagout using the following
procedure. Use the lockout attachment for RC90/RC90-B.

Installing the Lockout Attachment

(1) Turn OFF the POWER switch and place the lockout attachment on the POWER switch.
Insert the pin in the holes under the retractable actuator.
Pin

Lockout
Attachment
Hole

Push the pin in the direction

of arrows, and insert the pin
in the holes. POWER
switch
(2) Turn the lockout (3) Install the lockout (4) Slide the pin to the
attachment. attachment on the lock position.
switch.

Lock position

106 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 1. Safety Precautions on Maintenance

Padlock Size and Weight

The padlock is not supplied with the lockout attachment and must be supplied by the user.
The total weight of the padlock can be a maximum of 45 g.
Make sure the padlock weight does not exceed 45 g, otherwise the POWER switch may be
damaged.

Applicable Padlock

Safety Precautions
・ When using the padlock, do not use the controller where it is subject to vibration or
shock, otherwise failure or damage may result.
・ Do not apply a force of more than 50N on the lockout attachment, otherwise the
lockout attachment will be damaged.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 107

Maintenance 2. Regular Maintenance Inspection

2. Regular Maintenance Inspection

Performing regular maintenance inspection properly is essential for preventing trouble and
maintaining safety. This chapter describes the schedules for maintenance inspection and
procedures.
Be sure to perform the maintenance inspections in accordance with the schedules.
Part Fan filter Fan Battery
Content Cleaning Replacement Replacement Replacement
Code - R13B60511 R13B060510 R13B060003
2195107
Quantity - 1 1 1
More than once a When the filter When the error Every 5 years,
month is gets 515 occurs, or or when the
Maintenance
recommended deteriorated when the error 511
interval
abnormal occurs
noise occurs
The temperature The robot The error 9015 The error 9011
inside the system may not occurs and the occurs and the
Controller may operate robot system robot system
get too high and properly due to may stop. may stop.
Possible
the robot system dust or the like.
malfunction
may not operate
if maintenance
properly.
is not performed
The error may
occur due to
reduction of the
fun rotation.
Duration
5 minutes 5 minutes 20 minutes 15 minutes
(reference)
Reference: 7.1 7.1 7.2 7.3
Maintenance Fan Filter Fan Filter Fan Battery
Expected
- - 30,000 hours -
product life

108 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 3. Controller Structure

3. Controller Structure
3.1 Location of Parts
3.1.1 RC90 (for LS3, LS6)
MDB2 MDB1 DPB

15V
Switching Power Supply Module

5V
Switching Power Supply Module

24V
Switching Power Supply Module

DMB
CF

Option Slots

Fan DMB Sub Board Battery

3.1.2 RC90 (for LS20)

Regenerative
MDB2 MDB1 resistor DPB

15V
Switching Power Supply Module
5V
Switching Power Supply Module

24V
Switching Power Supply Module

DMB
CF

Option Slots

Fan DMB Sub Board Battery

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 109

Maintenance 3. Controller Structure

3.1.3 RC90-B (for LS6-B)

MDB2 MDB1
15V
DPB
Switching Power Supply Module

5V
Switching Power Supply Module

24V
Switching Power Supply Module

CF

DMB

Option Slots
Fan DMB Sub Board Battery

3.1.4 RC90-B (for LS10-B)

Regenerative
MDB2 MDB1 resistor DPB

15V
Switching Power Supply Module
グ
5V
Switching Power Supply Module

24V
Switching Power Supply Module

DMB

CF

Option Slots

Fan DMB Sub Board Battery

110 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 3. Controller Structure

3.2 Diagram of Cable Connections

3.2.1 RC90 (for LS3, LS6), RC90-B( for LS6-B)

NOTE: System configuration for RC90(for LS3,LS6) and RC90-B (for LS6-B) is the
same. However, board or part differs slightly.

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Maintenance 3. Controller Structure

3.2.2 RC90 (for LS20), RC90-B (for LS10-B)

NOTE: System configuration for RC90 (for LS20) and RC90-B (for LS10-B) is the
same. However, board or part differs slightly.

112 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 4. Backup and Restore

4. Backup and Restore

4.1 What is the Backup Controller Function?
The controller configuration set by EPSON RC+ 7.0 can be stored with the “Backup
Controller” function.
The Controller settings can be restored easily using the data previously stored with
“Backup Controller” after a configuration mistake or Controller problem.
Be sure to execute “Backup Controller” before changing the Controller setup, before
maintenance, or after teaching.

For some problems, backup may not be available before maintenance has to be performed.
Be sure to backup the data after making changes, before problems occur.

NOTE “Controller Status Storage” is one of the RC90/RC90-B functions. It saves the
 Controller setup data same as “Backup Controller.”
There data can be used as the backup data at restoring.
The methods for “Controller Status Storage” are as follows:
A : “Controller status storage to USB memory”
For details, refer to Setup & Operation 6. Memory Port.
B : “Export Controller Status function” in EPSON RC+ 7.0.
For details, refer to EPSON RC+ 7.0 User’s Guide 5.9.9 Import Command (Project
Menu).

4.2 Backup Data Types

The table below shows the files created with “Backup Controller”.
File Name Overview
[Link] Information file forFile including information for restoring
restore the Controller.
[Link] Robot parameters Stores information such as TlSet.
[Link] Initial configuration
Stores various Controller parameters.
[Link] Robot configuration Stores connected Robot information.
All the files related Project related All the project files transferred to the
to Project * Controller. Includes program files when
EPSON RC+ 7.0 is configured to transfer
source code to the Controller.
[Link] Global Preserve Saves values of Global Preserve
* variables variables.
[Link] WorkQue Saves information of Queues information
information of the WorkQue.
* If the version of the Controller firmware is Ver.1.0.*.*, project related data and
[Link] are not stored.

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Maintenance 4. Backup and Restore

4.3 Backup
Backup the Controller status from the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools]
dialog.

(2) Click the <Backup Controller…> button to display the [Browse For Folder] dialog.

(3) Specify the folder to save the backup data. Create a new folder if desired.
(4) Click the <OK> button. A folder is created in the specified folder containing the
backup data with a name in the following format.
B_controller model_serial number_data status was saved
→ Example RC90 : B_RC90_12345_2013-10-29_092951
→ Example RC90-B : B_RC90-B_12345_2013-10-29_092951

■ Do not edit the backup files. Otherwise, operation of the robot system after data
restoration to the Controller is not assured.
CAUTION

114 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 4. Backup and Restore

4.4 Restore
Restore the Controller status from the EPSON RC+ 7.0.

■ Make sure that the data used for restore was saved previously for same
Controller.
■ Do not edit the backup files. Otherwise, operation of the robot system after data
CAUTION
restoration to the Controller is not assured.

(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller
Tools] dialog.

(2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.

(3) Specify the folder that contains the backup data. Backup data folders are named
using the following format:
B_controller model_serial number_data status was saved
→ Example RC90 : B_RC90_12345_2013-10-29_092951
→ Example RC90-B : B_RC90-B_12345_2013-10-29_092951
NOTE Data saved with the Controller status storage function can also be specified for restore.
 Specify the following folder.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 115

Maintenance 4. Backup and Restore

(4) Click the <OK> button to display the dialog to select the restore data.

Robot name, serial #, calibration

This checkbox allows you to restore the robot name, robot serial number, Hofs data, and
CalPls data. Make sure that the correct Hofs data is restored. If the wrong Hofs data is
restored, the robot may move to wrong positions.
The default setting is unchecked.
Robot maintenance configuration
This checkbox allows you to restore the robot alarm related files.
For details, refer to Maintenance 6 Alarm.
This is not checked by the default setting.
Project
This checkbox allows you to restore the files related to projects.
The default is unchecked.
When a project is restored, the values of Global Preserve variables are loaded.
For details about Global Preserve variable backup, refer to EPSON RC+ 7.0 User’s Guide
5.10.10 Display Variables Command (Run Menu).
Vision hardware configuration
This checkbox allows you to restore the vision hardware configuration.
For details, refer to EPSON RC+ 7.0 option Vision Guide 7.0.
This is not checked by the default setting.
Security configuration checkbox
This checkbox allows you to restore the security configuration.
For details, refer to EPSON RC+ 7.0 User’s Guide 15. Security.
This is not checked by the default setting.
Force Sensing I/F configuration
This checkbox allows you to restore the Force Sensing I/F configuration.
This is not checked by the default setting.
This function is not supported for Robot Controller RC90/RC90-B.

(5) Click the <OK> button to restore the system information.


NOTE Restore the system configuration saved using Backup Controller only for the same system.
When different system information is restored, the following warning message appears.

Click the <No> button (do not restore data) except for special situations such as controller
replacement.


NOTE When restoring the backup including unsupported robot information to the target controller, an
error occurs.

116 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 5. Firmware Update

5. Firmware Update
This chapter describes the firmware upgrade procedure and data file initialization when
firmware or Robot configuration errors cause Controller startup or operation failure.

5.1 Updating Firmware

Firmware (software stored in non-volatile memory) and data files necessary to control the
Controller and the Robot are preinstalled in the Controller. Controller configuration set
from EPSON RC+ 7.0 is always saved in the Controller.
Controller firmware is supplied by CD-ROM as needed. Please contact us for
information.
You must use a PC running EPSON RC+ 7.0 connected to a Controller with USB to
update the Controller firmware. Firmware cannot be updated with an Ethernet
connection.

5.2 Firmware Upgrade Procedure

The firmware upgrade procedure is described as follows:
(1) Connect the development PC and the Controller with a USB cable (the firmware
cannot be changed with an Ethernet connection).
(2) Turn ON the Controller. (Do not start the development software EPSON RC+ 7.0
until the firmware upgrade is completed.)
(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.
(4) Execute “[Link]”. The following dialog appears.
(5) Select the <Upgrade> option button and click the <Next> button.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 117

Maintenance 5. Firmware Update

(6) Make sure that the development PC is connected to the Controller with a USB cable
and Click the <Next> button.

(7) Check the current firmware version and the new firmware version and click the
<Install> button.

(8) The firmware upgrade starts. It takes several minutes to complete.

NOTE Do not disconnect the USB cable during transfer or turn OFF the Controller or the
 development PC.

118 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 5. Firmware Update

(9) Continuous data file transfer starts.

(10) The following dialog appears when transfer has completed. Click the <Next> button
to reboot the Controller.

(11) The following dialog appears after the Controller reboot. Click the <Finish> button.

The firmware upgrade is complete.

NOTE
When you install the firmware (Ver.[Link] or later) on the controller which the firmware

 (before Ver.[Link]) has been installed, the following message is displayed.

When the message is displayed, re-install the firmware.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 119

Maintenance 5. Firmware Update

5.3 Controller Recovery

If the Controller becomes inoperable, use the procedures described in this section to
recover.
NOTE Controller Backup is recommended for easy recovery of the Controller operation. For
 details of Controller Backup, refer to Maintenance 4. Backup and Restore.

The following two conditions describe the Controller error status after turning on
the Controller.
Condition A The Controller automatically changes to Recovery mode and the LED of
ERROR, TEACH, and PROGRAM are lighting. You are able to
communicate with the development PC though the Controller does not
operate properly.
Condition B The LED of TEACH, AUTO, and PROGRAM do not blink.
Cannot communicate with the Controller using the development PC.

Countermeasure for the error status is as follows.

Condition A Follow the Firmware Initialization Procedure in Maintenance 5.4
Firmware Initialization Procedure
Condition B Execute the following steps:
(1) Turn OFF the Controller.
(2) Push the trigger button located on the front side of the Controller and
while holding the button in, turn ON the Controller. Continue to
hold in the trigger button for 30 seconds. This will cause the
Controller to start in Recovery mode.
(3) Make sure that the LED of ERROR, TEACH, and PROGRAM are
lighting.
(4) Follow the procedure in Maintenance 5.4 Firmware Initialization
Procedure from step (3) to initialize the firmware.

120 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 5. Firmware Update

5.4 Firmware Initialization Procedure

The firmware initialization procedure described in this section.
(1) Connect the development PC to the Controller with a USB cable (the firmware cannot
be changed with an Ethernet connection).
(2) Turn ON the Controller. Do not start the development software EPSON RC+ 7.0 until
firmware initialization is complete.
(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.
(4) Execute “[Link]”.
(5) Select the <Initialize> option button and click the <Next> button.

(6) Make sure that the development PC is connected to the Controller with a USB cable
and Click the <Next> button.

(7) Check the version information and click the <Install> button.

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Maintenance 5. Firmware Update

(8) Firmware and data file transfer starts. It takes several minutes to complete.

NOTE Do not disconnect the USB cable during transfer or turn OFF the Controller or the

 development PC.

(9) The following dialog appears when transfer is completed. Click the <Next> button
to reboot the Controller.

(10) The following dialog appears after the Controller reboot. Click the <Finish> button.

The firmware upgrade is completed.

Start EPSON RC+ 7.0 and restore the Controller settings.
For details of restoring the operating system, refer to Maintenance 4. Backup and Restore.

NOTE
When you install the firmware (Ver.[Link] or later) on the controller which the firmware

 (before Ver.[Link]) has been installed, the following message is displayed.

When the message is displayed, re-install the firmware.

122 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 6. Alarm

6. Alarm
When the batteries (lithium batteries) for the controller and the manipulator drain, an
alarm warning voltage reduction occurs. However, the alarm does not guarantee the
battery lives until replacement, and it is necessary to replace the batteries immediately. If
you run out the batteries, the robot parameters will be lost and recalibration of the robot
will be required.
In addition, the parts for the manipulator joints may cause accuracy decline or malfunction
due to deterioration of the parts resulting from long term use. If the robot breaks down
due to deterioration of the parts, it will take significant time and cost for repair.
The following sections describe the alarm function which announces the following
maintenance timings in order to perform maintenance well ahead of time before the
warning error.
The maintenance timings to be announced differ depending on the Controller firmware
version.
Refer to the section according to the firmware version of your Controller.
Controller firmware Ver. Maintenance items
- Controller battery replacement
Before Ver.7.1.8.x - Robot battery replacement
- Grease up
- Controller battery replacement
- Robot battery replacement
- Grease up
Ver.7.2.0.x or later - Replacement of the timing belt
- Replacement of the motor
- Replacement of the reduction gear unit
- Replacement of the ball screw spline unit

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 123

Maintenance 6. Alarm

6.1 Before Controller Firmware Ver.7.1.8.x

6.1.1 Alarm Configuration
The alarm can be configured to announce the maintenance timings of robot battery/grease,
and controller battery. Expiration time of the alarm is set one month prior to the
maintenance timing if setting the parts replacement date or grease up timing.

 Make sure that the date and time on the controller are set correctly. The alarm
cannot function properly with improper date and time setting.
 If the CPU board or CF is replaced, the alarm information may be lost. When
CAUTION you replaced these parts, confirm the date and time of the controller and alarm
information.

[Link] Robot Battery and Grease Up

When the robot is configured or changed, an alarm for the battery replacement and grease
up will be configured automatically.
The following parts are subject to grease up:
Ball screw spline unit on the Joint # 3

When the robot is deleted from the configuration, the alarm will also be automatically
deleted.
For details on the robot configuration, refer to the EPSON RC+ 7.0 User’s Guide 10.1
Setting the Robot Model.

 Changing of the robot should be done carefully. The alarm setting will be reset
when the robot is changed.
CAUTION

NOTE The first alarm for the robot battery replacement and grease up after purchase may occur
 earlier than originally scheduled.
NOTE If you are using the controller with the firmware version before 7.1.0.x, the alarm
 information is not configured. In such case, edit the alarm information.
For details on the alarm information editing, refer to Maintenance 6.1.3 How to Edit the
Alarm Information.
NOTE The alarm information for the robot battery replacement and grease up depends on the
 controller where the robot is configured to. If the robot is replaced with the other robot
with a different serial number, the alarm will not function properly. When you replace
the robot, edit the alarm information.
For details on the alarm information editing, refer to Maintenance 6.1.3 How to Edit the
Alarm Information.

124 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 6. Alarm

[Link] Controller Battery

The controller battery is automatically configured at the first connection with the EPSON
RC+7.0 after upgrading to the firmware version 7.1.0.x and later.
NOTE If you are using the controller before the version upgrade, there may be a difference in the
 alarm information. In such case, edit the alarm information. For details on the alarm
information editing, refer to Maintenance 6.1.3 How to Edit the Alarm Information.

6.1.2 How to View the Alarm Information

The configured alarm information can be checked in the EPSON RC+ 7.0.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.

(2) Click the <Controller Alarms> button and display the [Controller Alarms] dialog
box.

NOTE

 There are three states of the alarm.

Display Status
OK An alarm is configured. An alarm is not occurring.
Expired An alarm is occurring. Replacement is required.
Not set An alarm is not configured.

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Maintenance 6. Alarm

6.1.3 How to Edit the Alarm Information

The configured alarm information can be edited in the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.
(2) Select the alarm to be changed and click the <Change> button.
(3) Display the [Change Alarm] dialog box and enter any of the followings.
Purchase or replacement date of the battery
Date of grease up

(4) Click the <OK> button and change the specified alarm information.

6.1.4 Alarm Notifying Method

The alarm notifying method needs to be configured by the output bit of the Remote I/O.
The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System
Configuration] - [Controller] - [Remote Control].
For details, refer to the EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O.

NOTE


The controller does not enter the error or warning state even if an alarm occurs.

126 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 6. Alarm

6.1.5 How to Cancel the Alarm

An alarm occurs when it reaches the set expiration time.
There are following two methods to cancel the alarm.
- From the [Change Alarm] dialog box
- By the input bit of the Remote I/O
NOTE

 The alarm cannot be canceled by executing the Reset command or restarting the controller.

[Link] Alarm Cancellation Dialog

The alarm can be canceled from the EPSON RC+ 7.0.
By referring to Maintenance 6.1.3 How to Edit the Alarm, change the alarm information in the
same steps.

[Link] Remote Input

The alarm can be canceled by the input bit of the Remote I/O.

For details, refer to the EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O.

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Maintenance 6. Alarm

6.2 Controller Firmware Ver.7.2.0.x or later

6.2.1 Maintenance
The recommended replacement time can be configured for the controller batteries, robot
batteries/grease, timing belts, motors, reduction gear units, and ball screw spline units.

 Make sure that the date and time on the controller are set correctly. The parts
consumption management cannot function properly with improper date and time
setting.

 If the CPU board or CF is replaced, the maintenance information may be lost.

CAUTION
When you replaced these parts, confirm the date and time of the controller and
the maintenance information.

NOTE Setting of the maintenance vary depending on installation methods to update from the
 firmware version 7.1.0.x or earlier to 7.2.0.x or later.
Initial installation : Maintenance is enabled.
Upgrade : Maintenance inherits the previous data.
(Disables as default)
For details for enabling or disabling the maintenance, refer to the EPSON RC+ 7.0 User’s
Guide 5.12.2 [System Configuration] Command (Setup Menu) - [Setup]-[System
Configuration]-[Controller]-[Preferences] Page.

NOTE

 Maintenance is enabled at the shipment.

[Link] Robot Maintenance Information

If enabled, the maintenance information for the battery, timing belts, motors, reduction
gear units, ball screw spline unit, and grease up will be configured automatically when the
robot is configured or changed.
The following parts are subject to grease up:
Ball screw spline unit on the Joint # 3

When the robot is deleted from the configuration, the maintenance information will also be
automatically deleted.
For details on the robot configuration, refer to the EPSON RC+ 7.0 User’s Guide 10.1
Setting the Robot Model.

 Changing of the robot should be done carefully. The alarm setting will be reset
when the robot is changed.
CAUTION
NOTE

 If you are using the controller with the firmware version before 7.1.0.x, the maintenance
information is not configured. In such case, edit the information.
For details on the maintenance information editing, refer to Maintenance 6.2.3 How to
Edit the Maintenance Information.

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 Maintenance 6. Alarm

NOTE The robot maintenance information depends on the controller where the robot is
 configured to. If the robot is replaced with the other robot with a different serial number,
the maintenance information will not function properly. When you replace the robot, edit
the maintenance information.
For details on the maintenance information editing, refer to Maintenance 6.2.3 How to
Edit the Maintenance Information.

[Link] Controller Maintenance Information

If the maintenance is enabled, the controller battery is automatically configured at the first
connection with the EPSON RC+7.0 after upgrading to the firmware version 7.2.0.x and
later.
NOTE If you are using the controller before the version upgrade, there may be a difference in the
 maintenance information. In such case, edit the information. For details on the
maintenance information editing, refer to Maintenance 6.2.3 How to Edit the Maintenance
Information.

6.2.2 How to View the Maintenance Information

The configured maintenance information can be checked in the EPSON RC+ 7.0 Ver.7.2.x
or later.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.

(2) To check the controller maintenance information, click the <Maintenance> button and
display the [Maintenance] dialog box.

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Maintenance 6. Alarm

(3) Select “General” or specify the axis from the tree to display information of the target
parts.

NOTE The recommended replacement time for the battery is calculated based on the
 battery capacity and the controller ON time. The battery may run out if it passes
the recommended replacement time.
The recommended replacement time for the grease is calculated based on the
elapsed days since date of grease up. The replacement time may be shorter or
longer depending on usage condition, such the load applied on the robot.
The recommended replacement time for the parts (timing belts, motors, reduction
gear units, and ball screw spline unit) is when it reaches the L10 life (time until
10% failure probability). In the dialog window, the L10 life is displayed as
100%.
Remaining months is calculated based on the past operation conditions.
Enable to set the period for calculation by “HealthCalcPeriod” command. (Default:
seven days of the controller ON time)
Remaining months may not be calculated properly until the period for the
calculation passed.

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 Maintenance 6. Alarm

6.2.3 How to Edit the Maintenance Information

The configured maintenance information can be edited in the EPSON RC+ 7.0 Ver.7.2.x
or later.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.
(2) To edit the maintenance information, display the [Maintenance] dialog box.
(3) Select “General” or specify the axis from the tree to display information of the target
parts.
(4) Select the alarm to be changed and click the <Change> button.
(5) Display the [Change Alarm] dialog box and enter any of the followings.

Purchase or replacement date of the battery

Date of grease up
Purchase or replacement date of the timing belt
Purchase or replacement date of the motor
Purchase or replacement date of the reduction gear unit
Purchase or replacement date of the ball screw spline unit
(6) Click the <OK> button and change the specified alarm information.

NOTE


The offset can be set for the consumption rate of already installed parts.
Follow the steps below to calculate a rough offset setting value.
1. Measure the usable months for the past operation by HealthRBAnalysis.
2. Confirm the past Motor ON time in the controller status viewer.
3. Calculate a rough offset value with the following formula.
Motor On time
Offset=100×
24×30.4375× Usable months
For details, refer to the following manual.
EPSON RC+ 7.0 SPEL+ Language Reference

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 131

Maintenance 6. Alarm

6.2.4 Alarm Notifying Method

The controller status becomes warning and displays warning message if any parts required
to perform replacement or grease up.
For details, refer to the following manual.
Maintenance 9.1 Error Code Table
The alarm notifying method can be configured by the output bit of the Remote I/O.
The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System
Configuration] - [Controller] - [Remote Control].
For details, refer to EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O.

NOTE

 The controller enters the warning state if an alarm occurs.

6.2.5 How to Cancel the Alarm

An alarm occurs when the consumption rate of the parts reaches 100%.

NOTE


The alarm cannot be canceled by executing the Reset command or restarting the controller.
The alarm can be canceled by following methods.
EPSON RC+ 7.0 [Maintenance] dialog box.
HealthCtrlReset Command
HealthRBReset Command

Refer to Maintenance 6.2.3 How to Edit the Maintenance Information to change the alarm
information in the same steps.

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 Maintenance 7. Maintenance Parts Replacement Procedures

7. Maintenance Parts Replacement Procedures

■ Before performing any maintenance procedure, always make sure that the main
power of the Controller is turned OFF and that the high voltage charged area is
completely discharged. Performing any maintenance procedure while the main
power is ON or the high voltage charged area is not discharged completely is
extremely hazardous and may result in electric shock and/or cause serious
safety problems.
WARNING ■ When opening or closing the front side, make sure that the 200 V power supply
for the Controller is OFF. Performing procedure to the power supply terminal
block inside the Controller while the power supply is ON is extremely hazardous
and may result in electric shock and/or cause serious safety problems.

NOTE - Be careful not to damage cables.

 - Be sure not to drop any screws into the Controller.
- Positions and numbers of screws which fix the top panel differ depending on the
manipulator connected to controller. Refer to the following pictures if you need to
remove the top panel for maintenance.
RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws×10
Top Back
Back: Refer to the picture on the right

1 6 8
3
7 9

10

2 4

RC90 (for LS20), RC90-B (for LS10-B): Mounting screws×6

Top only
5
1 3

2 4

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Maintenance 7. Maintenance Parts Replacement Procedures

7.1 Fan Filter

Inspect the fan filter periodically and clean it when needed. The temperature inside the
Controller may get too high and the Controller may not operate properly if the filter is not
kept clean.

Fan Filter (1) Turn OFF the Controller.

Removal
(2) Remove two screws of the fan filter.

(3) Remove the fan filter cover.

(4) Detach the fan filter.

Vacuum off the dust when cleaning the filter.

Fan Filter (1) Set the fan filter to the fan filter cover.
Installation
(2) Mount the fan filter cover with two screws.

(3) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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 Maintenance 7. Maintenance Parts Replacement Procedures

7.2 Fan

Fan Removal (1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Cover.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the fan cable from the DMB.

(5) Remove the screws of the fan (×2).

(6) Remove the fan.

Fan Installation (1) Mount a new fan with two screws.

At this point, tighten the screws diagonally. Be careful of the mounting direction.

(2) Connect the fan cables to the DMB.

(3) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 135

Maintenance 7. Maintenance Parts Replacement Procedures

7.3 Battery

■ Use meticulous care when handling the lithium battery. Improper handling of the
lithium battery as mentioned below is extremely hazardous, may result in heat
generation, leakage, explosion, or inflammation, and may cause serious safety
problems.
・Battery Charge ・Deformation by Pressure
・Disassembly ・Short-circuit (Polarity; Positive/Negative)
・Incorrect Installation ・Heating (85°C or more)
・Exposing to Fire ・Soldering the terminal of the lithium battery directly
・Forced Discharge
CAUTION
■ Be sure to use the battery supplied as maintenance part from EPSON.
(Refer to Maintenance 10. Maintenance Parts List.)

■ When disposing of the battery, consult with the professional disposal services or
comply with the local regulation.
Spent battery or not, make sure the battery terminal is insulated. If the terminal
contacts with the other metals, it may short and result in heat generation,
leakage, explosion, or inflammation.

NOTE Turn ON the Controller for approximately one minute before replacing the battery.

 Finish the replacement within 10 minutes to prevent data loss.

Battery (1) Backup the Controller data.

Removal
Refer to Maintenance 4. Backup and Restore.

(2) Turn OFF the Controller.

(3) Disconnect the power plug.

(4) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(5) Disconnect the battery cable.

(6) Remove the battery straight upward.

136 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 7. Maintenance Parts Replacement Procedures

Battery (1) Set a new battery.

Installation NOTE

 Secure the battery with the mounting tab.

(2) Connect the battery cables.

(3) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 137

Maintenance 7. Maintenance Parts Replacement Procedures

7.4 CF (Compact Flash)

CF Removal (1) Turn OFF the Controller and unplug the power connector.

(2) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(3) Remove the CF mounting screw (×1).

(4) Pull the CF toward the direction of the arrow in

the picture.

CF Installation (1) Insert a new CF toward the opposite direction of the arrow in the picture above.

(2) Tighten the CF mounting screw (×1).

(3) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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 Maintenance 7. Maintenance Parts Replacement Procedures

7.5 MDB
MDB (1) Turn OFF the Controller.
Removal
(2) Disconnect the power plug.

(3) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the output cable of each axis of the

MDB.

(5) Remove the screws on the chassis side surface

(7)
(×4).

(6) Pull out the MDB clamp for the upright

mounting.
(5)
(7) Remove the screws on the chassis side surface.
(×2)

(8) Remove the MDB clamp.

(Mounting screw ×2)

(9) Pull out the MDB in the direction shown in the

picture.

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Maintenance 7. Maintenance Parts Replacement Procedures

MDB (1) Insert the MDB in the direction shown in the

Installation picture.

(2) Mount the MDB clamp.

(Mounting screw ×2)

(3) Tighten the screws on the chassis side surface.

(3)
(×2).

(4) Mount the MDB clamp for the upright

mounting.
(5)
(5) Tighten the screws on the chassis side surface
(×4).

(6) Mount the output cable of each axis of the MDB.

NOTE When mounting the output cables, make sure that

 the number on the MDB clamp and the connector
are the same.

(7) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(8) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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 Maintenance 7. Maintenance Parts Replacement Procedures

7.6 DMB

DMB (1) Turn OFF the Controller.

Removal
(2) Disconnect the power plug.

(3) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the following from the

Controller.
M/C Signal Connector
EMERGENCY Connector
TP Connector
USB Connector
USB Memory
Ethernet Connector
I/O Connector
RS-232C Connector

(5) Remove the MDB.

Refer to Maintenance: 7.5 MDB.

(6) Remove the connectors (×4).

(7) Remove the DMB mounting screws (×14).

(8) Remove the fan.

Refer to Maintenance: 7.2 Fan.
(9) Remove the cover for the M/C Power Connector.

(10) Remove the screw of the clamp for the M/C

Power Cable (×1) and screws of the M/C Power
Connector (×2).

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Maintenance 7. Maintenance Parts Replacement Procedures

(11) Remove the FG line of the M/C Power Cable.

(12) Disconnect the M/C Power Cable from the chassis front side.

(13) Remove the DMB from the chassis.

At this point, be careful not to touch the chassis and other parts.

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 Maintenance 7. Maintenance Parts Replacement Procedures

DMB (1) Insert the DMB into the chassis.

Installation
At this point, be careful not to touch the chassis and other parts.

(2) Pull in the M/C Power Cable from the chassis front side.

(3) Set the FG line of the M/C Power Cable.

(4) Tighten the screw of the clamp for the M/C Power
Cable (×1) and screws of the M/C Power
Connector (×2).

(5) Remove the cover for the M/C Power Connector.

(6) Mount the fan.

Refer to Maintenance: 7.2 Fan.

(7) Tighten the DMB mounting screw (×14).

(8) Connect the connectors (×4).

(9) Mount the MDB.

Refer to Maintenance: 7.5 MDB.

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Maintenance 7. Maintenance Parts Replacement Procedures

(10) Mount the following on the

Controller.
M/C Signal Connector
EMERGENCY Connector
TP Connector
USB Connector
USB Memory
Ethernet Connector
I/O Connector
RS-232C Connector

(11) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(12) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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 Maintenance 7. Maintenance Parts Replacement Procedures

7.7 DMB Sub Board

DMB Sub Board (1) Turn OFF the Controller.

Removal
(2) Disconnect the power plug.

(3) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the DMB.

Refer to Maintenance: 7.6 DMB.

(5) Remove the cables from the DMB Sub Board.

(6) Remove two fastening blocks that secures RS-232C connector in the front side.

(7) Remove the DMB Sub Board. (Mounting screws ×3)

DMB Sub Board (1) Mount the DMB Sub Board. (Mounting screws ×3)
Installation
(2) Mount two fastening blocks that secures RS-232C connector in the front side.

(3) Connect the cables to the DMB Sub Board.

(4) Mount the DMB.

Refer to Maintenance: 7.6 DMB.

(5) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(6) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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Maintenance 7. Maintenance Parts Replacement Procedures

7.8 DPB

DPB (1) Turn OFF the Controller.

Removal
(2) Disconnect the power plug.

(3) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the MDB.

Refer to Maintenance: 7.5 MDB

(5) Disconnect the connectors from the DPB.

RC90 (for LS3, LS6) RC90-B (for LS6-B) RC90 (for LS20), RC90-B(for LS10-B)
: Connectors × 6 : Connectors × 6 : Connectors × 8

(6) Only for RC90 (for LS20), RC90-B(for LS10-B)

Remove the rear plate from the Controller.

Mounting screws × 7

(7) Unscrew the DPB mounting screws.

RC90 (for LS3, LS6): RC90-B (for LS6-B): RC90 (for LS20), RC90-B(for LS10-B):
: Mounting screws × 10 : Mounting screws × 9 : Mounting screws × 12

(8) Remove the DPB from the Controller.

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 Maintenance 7. Maintenance Parts Replacement Procedures

DPB (1) Inset the DPB to the Controller.

Installation
(2) Mount the DPB.
RC90 (for LS3, LS6): RC90-B (for LS6-B): RC90 (for LS20), RC90-B(for LS10-B):
: Mounting screws × 10 : Mounting screws × 9 : Mounting screws × 12

(3) Only for RC90 (for LS20), RC90-B(for LS10-B)

Mount the rear plate on the Controller.

Mounting screws × 7

(4) Connect the connectors to the DPB.

RC90 (for LS3, LS6) RC90-B (for LS6-B) RC90 (for LS20), RC90-B(for LS10-B)
: Connectors × 6 : Connectors × 6 : Connectors × 8

(5) Mount the MDB.

Refer to Maintenance: 7.5 MDB

(6) Mount the Top Panel.

RC90 (for LS3, LS6): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6
(7) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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Maintenance 7. Maintenance Parts Replacement Procedures

7.9 Option Board

Option Board (1) Turn OFF the Controller.

Addition
(2) Disconnect the power plug.

(3) Remove the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(4) Remove the clamp of the power supply cable.

(5) Remove the screws of the Option Slot Panel

(×4).

When installing one Option Board:

Slide the panel as shown in the picture and
install the board with screws (×2).

When installing two Option Boards:

The Option Slop Panel is not necessary.

(6) Install the Option Board as shown in the picture.

(7) Mount the attachment L-shaped plate with a

screw from the front side.

At this point, one screw for the Option Slot

Panel is left unused.

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 Maintenance 7. Maintenance Parts Replacement Procedures

(8) Secure the L-shaped plate and Option Board

with the attachment screw.

(9) Mount the clamp of the power cable.

(10) Mount the Top Panel.

RC90 (for LS3, LS6), RC90-B(for LS6-B): Mounting screws ×10
RC90 (for LS20), RC90-B (for LS10-B): Mounting screws ×6

(11) Connect the power plug. Turn ON the Controller and make sure that the Controller
starts properly without any vibration or abnormal noise.

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Maintenance 8. Verifying Robot System Operation

8. Verifying Robot System Operation

When maintenance has been performed for either the Manipulator or the Controller,
including replacing any parts in those units, items must be checked according to the
procedures in this section to ensure proper operation.
(1) Connect all the necessary cables for the system.

■ When verifying the robot system operation, prepare for failures with initial settings
or wiring. If the Manipulator operates abnormally because of incorrect initial
settings or wiring, press the Emergency Stop switch immediately to stop the
Manipulator.
Verify the robot system operation in the restricted mode (low speeds and low
WARNING power) status. Verifying the robot system operation at high speeds may
damage the robot system and/or cause serious safety problems as the
Manipulator cannot stop operating immediately in case of abnormal operation of
the Manipulator.

■ The serial number of the Manipulator that should be connected is indicated on

the Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
CAUTION Manipulator may cause not only improper function of the robot system but also
serious safety problems.

(2) Turn ON the Controller. The Controller will boot up. During this process, watch
and monitor the LED status.
For details of the display, refer to Maintenance 2.3 LED.
For error number, refer to Maintenance 9.1 Error Code Table.
(3) Execute MOTOR ON and check the following:
- No error is displayed.
- There is servo excitation and the Manipulator operates normally.
(4) Execute various motion commands (such as JUMP, etc.). The Manipulator must
operate accordingly and normally without vibration or unusual sounds.

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 Maintenance 9. Troubleshooting

9. Troubleshooting
9.1 Error Code Table

No. Message Remedy Note 1 Note 2

1 Controller control program started. -
Termination due to low voltage of the
2 -
power supply.
Stores this log when the controller is
3 Controller control program has completed.
rebooted from EPSON RC+ or TP1.
Preserve variables save area has been
4 -
cleaned.
5 Function Main started. -
Function Main started. Later same logs Skip the log "Function Main started." to
6
are skipped. prevent system history space run out.
7 Serial number has been saved. -
8 System backup has been executed. -
9 System restore has been executed. -
10 Robot parameters have been initialized. -
Offset pulse value between the encoder Value
Value after
11 origin and the home sensor (HOFS) is - change
before
changed. change
Message saving mode activated.
17 -
Uncommon event.
Conversion of Robot Parameter file has
18 -
been executed.
19 DU firmware has been installed. -
Enable setting in Teach mode has been
20 -
saved.
Enable setting in Teach mode has been
21 -
changed.
Robot number
executing Controller
23 EStop has been executed. - motion status
command
Robot number
executing Controller
24 Safeguard has opened. - motion status
command
Robot
25 Robot setting has changed. - number
26 Alarm setting has changed. - Alarm number
The battery alarm for the controller was
50 -
reset.
51 The battery alarm for the robot was reset. - Robot number
52 The grease alarm for the robot was reset. - Robot number
100 Device connected to Controller. -
20: TP3
21:RC+
22:Remote I/O
101 Console device has changed. - 26: Remote
Ethernet
29: Remote
RS232
102 Display device has changed. -
103 Working mode has changed. -
0: Independent
104 Cooperative mode has changed. - 1: Cooperative
1: Setup
2: Initialize
110 Controller firmware has been installed. - 3: Upgrade
4: Recover

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Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

May store this log when the
111 IP address has been restored.
controller firmware is installed.
112 Controller rebooted -
1: Ethernet
120 RC+ connected to the Controller. - 2: USB
121 TP connected to the Controller. -
123 RC+ disconnected from the Controller. -
124 TP disconnected from the Controller. -
126 Working mode changed to AUTO. -
127 Working mode changed to Program. -
128 Working mode changed to Teach. -
Remote Ethernet connected to the
129 -
Controller
Remote Ethernet disconnected to the
130 -
Controller
131 Remote Com connected to the Controller -
Logout status
Remote Com disconnected to the 0: Normal
132 -
Controller 1: Abnormal
(Time-out)
133 Working mode changed to Test. -
The battery alarm for the controller
400 occurred. Replace the battery and reset Replace the battery and reset the alarm.
the alarm.
The battery alarm for the robot occurred.
401 Replace the battery and reset the alarm. Robot number
Replace the battery and reset the alarm.
The grease alarm occurred. Grease the
402 Grease the robot and reset the alarm. Robot number
robot and reset the alarm.
Replace the battery. 1000
The battery alarm for the controller 1000 times of
After replacing the battery, reset the times of
410 occurred. Replace the battery and reset consumption
alarm in EPSON RC+ boundary
the alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the battery. 1000
1000 times of
The battery alarm for the robot occurred. After replacing the battery, reset the times of
411 consumption
Replace the battery and reset the alarm. alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[ Maintenance]. value
Replace the timing belt. 1000
1000 times of
The belt alarm occurred. Replace the belt After replacing the timing belts, reset times of
412 consumption
and reset the alarm. the alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Grease up the ball screw spline. 1000
The grease alarm for the ball screw spline 1000 times of
After greasing up, reset the alarm in times of
413 occurred. Grease the ball screw spline consumption
EPSON RC+ boundary
units and reset the alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the motor. 1000
1000 times of
The motor alarm occurred. Replace the After replacing the motor, reset the times of
414 consumption
motor and reset the alarm. alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the gear units. 1000
1000 times of
The gear alarm occurred. Replace the gear After replacing the gear units, reset the times of
415 consumption
units and reset the alarm. alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the ball screw spline. 1000
The ball screw spline alarm occurred. 1000 times of
After replacing the ball screw spline, times of
416 Replace the ball screw spline and reset the consumption
reset the alarm in EPSON RC+ boundary
alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value

152 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Replace the battery. 1000
The battery alarm for the controller 1000 times of
After replacing the battery, reset the times of
420 occurred. Replace the battery and reset consumption
alarm in EPSON RC+ boundary
the alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the battery. 1000
1000 times of
The battery alarm for the robot occurred. After replacing the ball screw spline, times of
421 consumption
Replace the battery and reset the alarm. reset the alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the timing belt. 1000
1000 times of
The belt alarm occurred. Replace the belt After replacing the timing belts, reset times of
422 consumption
and reset the alarm. the alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Grease up the ball screw spline. 1000
The grease alarm for the ball screw spline 1000 times of
After greasing up, reset the alarm in times of
423 occurred. Grease the ball screw spline consumption
EPSON RC+ boundary
and reset the alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the motor. 1000
1000 times of
The motor alarm occurred. Replace the After replacing the motor, reset the times of
424 consumption
motor and reset the alarm. alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the gear units. 1000
1000 times of
The gear alarm occurred. Replace the gear After replacing the gear units, reset the times of
425 consumption
units and reset the alarm. alarm in EPSON RC+ boundary
rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Replace the ball screw spline. 1000
The ball screw spline alarm occurred. 1000 times of
After replacing the ball screw spline, times of
426 Replace the ball screw spline and reset the consumption
reset the alarm in EPSON RC+ boundary
alarm. rate
7.0-[Tools]-[Controller]-[Maintenance]. value
Effects system performance if trace
501 Trace history is active.
history is active.
When this error occurs, the value of the
Global Preserve variable will be
502 Memory has been initialized. initialized.
Replace the CPU board battery.
Replace the CPU board.
This is a warning of the hard disk
Found Hard disk error.
503 failure. Replace the hard disk as soon
You should replace the hard disk ASAP.
as possible.
Make sure there are no problems in the
504 An Error occurred on a Background Task.
system and continue the operation.
505 Controller was rebooted. -
The controller is started by using the
Setting changes from the previous start
previous initial setting file since the initial
507 may not be saved. Please check the
setting file is corrupted. Check the
settings.
settings.
Replace the CPU board battery
Battery voltage of the CPU board backup 100 times of
immediately. Keep the power to the 100 times of
511 is lower than the allowed voltage. boundary
controller ON as far as possible until current value
Replace the CPU board battery. value
you replace the battery.
If normal voltage is not generated by a 100 times of
5V input voltage for the CPU board is 100 times of
512 5V power supply alone, replace the boundary
lower than the allowed voltage. current value
power supply. value
24 V input voltage for the motor brake, If normal voltage is not generated by a 100 times of
100 times of
513 encoder and fan is lower than the specified 24V power supply alone, replace the boundary
current value
voltage. power supply. value

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 153

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Stop the controller as soon as possible
and check whether the ambient 100 times of
Internal temperature of the Controller is 100 times of
514 temperature of the controller is not high. boundary
higher than the allowed temperature. current value
Check whether the filter is not clogged value
up.
Check whether the filter is not clogged
Rotating speed of the controller fan is up. If the warning is not cleared after Boundary
515 Current value
below the allowed speed. (FAN1) the controller is rebooted, replace the value
fan.
Check whether the filter is not clogged
Rotating speed of the controller fan is up. If the warning is not cleared after Boundary
516 Current value
below the allowed speed. (FAN2) the controller is rebooted, replace the value
fan.
Stop the controller as soon as possible
and check whether the ambient 100 times of
Internal temperature of the Controller is 100 times of
517 temperature of the controller is not high. boundary
higher than the allowed temperature. current value
Check whether the filter is not clogged value
up.
If normal voltage is not generated by 100 times of
DU1 3.3V input voltage for the board is 100 times of
521 3.3V of Drive Unit 1 power supply boundary
lower than the allowed voltage. current value
alone, replace the power supply. value
If normal voltage is not generated by 5V 100 times of
DU1 5V input voltage for the board is 100 times of
522 of Drive Unit 1 power supply alone, boundary
lower than the allowed voltage. current value
replace the power supply. value
DU1 24 V input voltage for the motor If normal voltage is not generated by 100 times of
100 times of
523 brake, encoder and fan is lower than the 24V of Drive Unit 1 power supply boundary
current value
specified voltage. alone, replace the power supply. value
Stop Drive Unit 1 as soon as possible
and check whether the ambient 100 times of
DU1 Internal temperature of the Controller 100 times of
524 temperature of Drive Unit 1 is not high. boundary
is higher than the allowed temperature. current value
Check whether the filter is not clogged value
up.
Check whether the filter of Drive Unit 1
DU1 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
525 Current value
below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 1
DU1 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
526 Current value
below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
If normal voltage is not generated by 100 times of
DU2 3.3V input voltage for the board is 100 times of
531 3.3V of Drive Unit 2 power supply boundary
lower than the allowed voltage. current value
alone, replace the power supply. value
If normal voltage is not generated by 5V 100 times of
DU2 5V input voltage for the board is 100 times of
532 of Drive Unit 2 power supply alone, boundary
lower than the allowed voltage. current value
replace the power supply. value
DU2 24 V input voltage for the motor If normal voltage is not generated by 100 times of
100 times of
533 brake, encoder and fan is lower than the 24V of Drive Unit 2 power supply boundary
current value
specified voltage. alone, replace the power supply. value
Stop Drive Unit 2 as soon as possible
and check whether the ambient 100 times of
DU2 Internal temperature of the Controller 100 times of
534 temperature of Drive Unit 2 is not high. boundary
is higher than the allowed temperature. current value
Check whether the filter is not clogged value
up.

154 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check whether the filter of Drive Unit 2
DU2 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
535 Current value
below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 2
DU2 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
536 Current value
below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
If normal voltage is not generated by 100 times of
DU3 3.3V input voltage for the board is 100 times of
541 3.3V of Drive Unit 3 power supply boundary
lower than the allowed voltage. current value
alone, replace the power supply. value
If normal voltage is not generated by 5V 100 times of
DU3 5V input voltage for the board is 100 times of
542 of Drive Unit 3 power supply alone, boundary
lower than the allowed voltage. current value
replace the power supply. value
DU3 24 V input voltage for the motor If normal voltage is not generated by 100 times of
100 times of
543 brake, encoder and fan is lower than the 24V of Drive Unit 3 power supply boundary
current value
specified voltage. alone, replace the power supply. value
Stop Drive Unit 3 as soon as possible
and check whether the ambient 100 times of
DU3 Internal temperature of the Controller 100 times of
544 temperature of Drive Unit 3 is not high. boundary
is higher than the allowed temperature. current value
Check whether the filter is not clogged value
up.
Check whether the filter of Drive Unit 3
DU3 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
545 Current value
below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 3
DU3 Rotating speed of the controller fan is is not clogged up. If the warning is not Boundary
546 Current value
below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
Communication with the Compact Vision Check the connection between the
550 Camera No.
is disconnected. Check the network wiring. controller and the compact vision.
Check whether the fan filter of the
Compact Vision CPU fan RPM has compact vision is not clogged up.
551 decreased. Clean the fan filter and / or If the warning is not cleared after the Camera No. Current value
replace the fan. controller and the compact vision are
rebooted, replace the CPU fan.
Compact Vision CPU fan RPM has
Replace the CPU fan of the compact
552 decreased. Clean the fan filter and / or Camera No. Current value
vision.
replace the fan.
Check whether the fan filter of the
compact vision is not clogged up.
Compact Vision chassis fan RPM has
553 If the warning is not cleared after the Camera No. Current value
decreased. Replace the fan.
controller and the compact vision are
rebooted, replace the system fan.
Compact Vision chassis fan RPM has Replace the system fan of the compact
554 Camera No. Current value
decreased. Replace the fan. vision.
Check whether the fan filter of the
compact vision is not clogged up.
If the warning is not cleared after the
Compact Vision CPU temperature is too
controller and the compact vision are 1000 times of
555 high. Check the installation environment Camera No.
rebooted, check the installation current value
(ventilation, ambient temperature, etc.)
environment (surrounding space,
ambient temperature) of the compact
vision.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 155

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check whether the fan filter of the
compact vision is not clogged up.
If the warning is not cleared after the
Compact Vision CPU temperature is too
controller and the compact vision are 1000 times of
556 high. Check the installation environment Camera No.
rebooted, check the installation current value
(ventilation, ambient temperature, etc.)
environment (surrounding space,
ambient temperature) of the compact
vision.
Compact Vision backup battery voltage is Replace the backup battery of the 1000 times of
557 Camera No.
low. Replace the battery. compact vision. current value
Compact Vision backup battery voltage is Replace the backup battery of the 1000 times of
558 Camera No.
low. Replace the battery. compact vision. current value
Compact Vision process was terminated If the warning is not cleared after the
559 abnormally. Restart the Compact Vision controller and the compact vision are Camera No.
unit. rebooted, initialize the compact vision.
If the warning is not cleared after the
Compact Vision available memory is low.
560 controller and the compact vision are Camera No. Current value
Restart the Compact Vision unit.
rebooted, initialize the compact vision.
Compact Vision available disk space is Check the vision sequence if it has
low. Reduce the number of objects that unnecessary models which can be
561 Camera No. Current value
use models (Geometric, Correlation, reduced. Consider to use the USB
DefectFinder, etc.) memory.
A critical hardware error occurred in the If the warning is not cleared after the
562 Compact Vision unit. Check the controller and the compact vision are Camera No.
hardware condition such as internal wiring. rebooted, initialize the compact vision.
A critical hardware error occurred in the If the warning is not cleared after the
563 Compact Vision unit. Check the controller and the compact vision are Camera No.
hardware condition such as internal wiring. rebooted, replace the LED/SW board.
Communication with the Compact Vision
569 - Camera No.
recovered.
PTP motion for the singularity
avoidance was completed.
The PTP motion to avoid the singularity
597 Clicking the same jog button will
point has completed.
operate the robot in the normal jog
motion.
Move the manipulator to the direction
598 Robot stopped due to collision detection
avoiding collision
The robot could not jog in the CP
motion (default).
599 Jogging attempted near singularity point.
Clicking the same jog button will
operate the robot in the PTO motion.
Motor driver type does not match the
700 current robot model. Check the robot Check the robot model.
model. Replace the motor driver.
Encoder has been reset. Reboot the
736 Reboot the controller.
controller.
Turn OFF the controller and replace the
battery.
Low voltage from the encoder battery.
737 For the battery replacement procedure,
Replace the battery.
refer to Maintenance in the Manipulator
manual.
752 Servo alarm D. -

156 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Operation Failure.
1001 -
Command parameter is invalid.
Requested data cannot be accessed.
Check whether the target I/O, variables,
1002 The data is not set up or the range is
and tasks exist.
invalid.
1003 The password is invalid Enter the correct password.
Cannot execute with unsupported
1004 Use the correct version file.
version.
Use the backup data for the same
Cannot execute with invalid serial
1005 controller to restore the controller
number.
configuration.
Use the backup data for the same
Cannot execute with invalid Robot
1006 controller to restore the controller
model.
configuration.
Cannot execute with invalid
1007 Use the supported installer.
Controller.
Remote setup error.
Specify the input number excluding the
1010 Cannot assign R-IO input number to
R-IO input number.
remote input.
Remote setup error.
Cannot assign a bit number which
1011 Check the fieldbus slave size.
does not exist to a remote I/O signal.
Check the fieldbus slave size.
Remote setup error.
Cannot assign a bit number which
1012 Check the fieldbus master size.
does not exist to a remote I/O signal.
Check the fieldbus master size.
Fieldbus slave failure.
1013 Cannot change the size because it -
currently includes a remote I/O signal.
Fieldbus master failure. Cannot
1014 change the size because it currently -
includes a remote I/O signal.
Remote setup error. Cannot assign
1015 Hand-IO input/output number to -
remote input.
1020 Cannot execute in recovery mode. Boot the controller as normal.
Cannot execute due to controller
1021 Restore the controller configuration.
initialization failure.
Cannot execute without the project
1022 Open a project.
being open.
Cannot execute while the project is
1023 Rebuild the project.
open.
1024 Cannot activate from remote. Enable the remote input.
Execution in Teach mode is
1025 Change to the AUTO mode.
prohibited.
Cannot execute in Teach mode except
1026 Change to the AUTO mode.
from TP.
1027 Cannot execute in Auto mode. Change to the Program mode.
Cannot execute in Auto mode except
1028 Change to the Program mode.
from the main console.
1029 Cannot execute from OP. Enable the OP input.
Does not allow Operation mode to be Change to the Auto mode with a console
1030
changed. in the Program mode.
Cannot execute while tasks are
1031 Stop the task and then execute.
executing.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 157

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot execute while the maximum
1032 Stop the task and then execute.
number of tasks are executing.
Cannot execute during asynchronous
1033 Execute after the motion ends.
motion command.
The asynchronous command already
Asynchronous command stopped
1034 stopped when the controller received a
during operation.
stop command.
The command cannot be executed by the
Cannot execute when Remote I/O
console except the remote I/O when
1035 enabled except from the remote
AutoMode output of the remote I/O is
device.
ON.
Cannot execute when Remote Ethernet The command cannot be executed by the
1037 enabled except from the remote console except the remote Ethernet when
Ethernet device. Auto flag of the remote Ethernet is ON.
Prohibited command was executed while
executing the program.
1039 Execution is prohibited.
Stop the program, and then execute the
command.
Cannot execute during Emergency
1041 Cancel the Emergency Stop status.
Stop status.
Cannot execute while the safeguard is
1042 Close the safeguard.
open.
1043 Cannot execute during error condition. Cancel the error condition.
Cannot execute when the remote pause
1044 Change the remote pause input to OFF.
input is ON.
Input waiting condition is the only The controller received an input while it
1045
available condition to input. was not in the Input waiting condition.
1046 Cannot execute during file transfer. Execute after the file transmission.
Cannot cancel the command executed Cancel the motion command from the
1047
from other devices. device the command was issued from.
Cannot execute after low voltage was
1048 Reboot the controller.
detected.
1049 Other devices are in program mode. Check connection of other devices.
Enter the password that is less than 16
1050 Password is too long.
characters.
1. Retry using the same USB memory.
1051 Export Controller Status failed. 2. Retry using another USB memory.
3. Retry after rebooting the controller.
Execute the command after completing
1052 Export Controller Status busy.
the controller status backup.
1053 Execution in Test mode is prohibited Execute in other modes.
Cannot execute in TEST mode except
1054 -
from TP.
Confirm that no background task is
1055 Cannot execute the Background Task. running.
Rebuild the project.
1056 Cannot execute from OP. Enable the TP3 input.
Cannot execute when TP3 enabled The command cannot be executed from
1057
except from the TP3. other consoles when TP3 is enabled.

1058 Cannot execute excluding T2 mode. Switch to <Teach/T2> key.

T2 mode cannot be used on RC700-A

1059 Cannot change to T2 mode. Controllers complying with UL
standards.

158 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

1. Reboot the controller.
1100 File failure. Cannot access the file. 2. Reinstall the firmware.
3. Replace the CF.
File failure. Read and write failure of 1. Reboot the controller.
1102
the registry 2. Replace the CF.
1103 File is not found. Check whether the file exists.
1104 Project file was not found. Rebuild the project.
1105 Object file was not found. Rebuild the project.
1106 Point files were not found. Rebuild the project.
The program is using a feature that is Check the compiler version in the
1107 not supported by the current controller EPSON RC+
firmware version. 7.0-[Project]-[Properties]-[Compiler].
One or more source files are updated.
1108 Rebuild the project.
Please build the project.
1109 Not enough storage capacity. Increase free space of the USB memory.
1110 File is not found. -
1111 Conveyor file was not found. -
Force files were not found.
1112 Rebuild the project.
Rebuild the project.
There is a possibility that the folder is
Cannot create the project in the
1114 full or the projectname is deplicated.
controller.
Check it by the application selection.
File failure.
1120 Restore the controller configuration.
Setting file is corrupt.
File failure.
1121 Rebuild the project.
Project file is corrupt.
File failure.
1122 Rebuild the project.
Point file is corrupt.
File failure.
1123 Rebuild the project.
I/O label file is corrupt.
File failure.
1124 Rebuild the project.
User error file is corrupt.
File failure. 1. Reboot the controller.
1126 Software option information is 2. Reinstall the firmware.
corrupt. 3. Reconfigure the option.
File failure.
1127 Rebuild the project.
Vision file is corrupt.
The specified backup information cannot
File failure. be restored.
1128
Backup information file is corrupt. Acquire the backup information again,
and then restore the file.
Error message failure. No error history exists.
1130
No item is found in the error history. Reboot the controller.
Insert the USB memory properly. When
this error still occurs after the USB
memory is inserted properly, the
1131 Cannot access the USB memory.
memory may be unrecognizable to
controller. Insert another memory to
check the operation.
File failure.
1132 -
Failed to copy the file.
File failure.
1133 -
Failed to delete the file.
File failure.
1134 Rebuild the project.
GUI Builder file is corrupt.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 159

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

File failure. Force Guide file is
1138 Rebuild the project.
corrupt.
File failure.
1140 Rebuild the project.
Failed to open the object file.
File failure.
1141 Rebuild the project.
Failed to open the project file.
File failure.
1142 Rebuild the project.
Failed to read the project file.
1. Retry using the same USB memory.
File failure.
1143 2. Retry using another USB memory.
Failed to open the condition save file.
3. Retry after rebooting the controller.
1. Retry using the same USB memory.
File failure.
1144 2. Retry using another USB memory.
Failed to write the condition save file.
3. Retry after rebooting the controller.
File failure.
1145 Rebuild the project.
Failed to open the conveyor file.
File failure.
1146 Rebuild the project.
Failed to read the conveyor file.
File failure. 1. Reboot the controller.
1150
Error history is invalid. 2. Replace the CF.
File failure. 1. Reboot the controller.
1151
Failed to map the error history. 2. Replace the CF.
File failure. 1. Reboot the controller.
1152
Failed to open the error history file. 2. Replace the CF.
File failure. 1. Reboot the controller.
1153
Failed to write the error history file. 2. Replace the CF.
File failure.
1155 Restore the controller configuration.
Failed to open the settings file.
File failure.
1156 Restore the controller configuration.
Failed to save the settings file.
File failure.
1157 Restore the controller configuration.
Failed to read the settings file.
File failure.
1158 Restore the controller configuration.
Failed to write the settings file.
MCD failure.
1160 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
1161 Restore the controller configuration.
Failed to read the MCD file.
MCD failure.
1163 Restore the controller configuration.
Failed to save the MCD file.
MPD failure.
1165 -
Failed to open the MPD file.
MPD failure.
1166 -
Failed to read the MPD file.
MPD failure.
1168 -
Failed to save the MPD file.
MPL failure. 1. Reboot the controller.
1170
Failed to open the MPL file. 2. Reinstall the firmware.
PRM failure. 1. Reboot the controller.
1181
Failed to replace the PRM file. 2. Reconfigure the robot.
File failure.
1185 Failed to open the backup information -
file.
File failure.
1186 Failed to read the backup information -
file.

160 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

File failure.
1187 Failed to write the backup information -
file.
File failure.
1188 Failed to save the backup information -
file.
Cannot restore the controller
The backup data was created by an old configuration in the specified procedure
1189
version. for using old backup data.
Check the backup data.
The backup data was created by a
1190 -
newer version.
1191 There is no project in the backup data. -
Cannot execute with invalid robot Check that the Backup data is same as
1192
number. current robot number.
Cannot execute with invalid robot Check that the Backup data is same as
1193
information. current robot number.
Cannot execute with invalid drive unit
1194 -
number.
File failure. Failed to map the health
1195 Reboot the controller. - -
history.
File failure. Failed to open the health
1196 Reboot the controller. - -
history file.
File failure. Failed to write the health
1197 Reboot the controller. - -
history file.
This error occurs during compilation
Compile failure.
1200 from TP. Correct where the error
Check the compile message.
occurred.
This error occurs during compilation
Link failure.
1201 from TP. Correct where the error
Check the link message.
occurred.
User Outputs failure.
1250 -
The Name is empty.
User Outputs failure.
1251 -
The Condition is empty.
User Outputs failure.
1252 Robot number is out of the available -
range.
Alarm Setting failure.
1260 -
Robot does not exist.
Alarm Setting failure.
1261 -
Failed to get the expiration date.
Alarm Setting failure.
1262 -
Failed to set the alarm.
Alarm Setting failure.
1263 Specified alarm number is out of the -
allowable range.
Alarm Setting failure.
1264 -
Specified alarm number is not enabled.
Force monitor number is out of the Reboot the controller.
1290 allowable range. Initialize the controller firmware.
Reboot the controller. Replace the controller.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 161

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The force monitor is already used on
another device. Check whether another PC is using the
1291
Close the force monitor on another force monitor.
device, and then run the force monitor.
Failed to set/load information of FG
1292
sequence and object.
1400 Force Guide file error.
1401 Invalid Force Guide file path.
1402 Failed to open Force Guide file.
1403 Do not open Force Guide file.
1404 Invalid Force Guide sequence number.
1405 Invalid Force Guide object number.
Invalid Force Guide sequence
1406
property.
1407 Invalid Force Guide object property.
1408 Invalid Force Guide object type.
1409 Invalid parameter.
1410 Invalid Force Guide file vertion.
Force Guide Incorrect property is
1411 existing. Confirm the Force Guide property.
Confirm the property.
Cannot set Decision object to top of Cannot set Decision object to top of a
1412 Force Guide sequence. sequence.
Confirm Force Guide sequence. Confirm Force Guide sequence.
Specified Force Guide object as
Confirm thesettings of Force Guide
1413 ConditionObject is disabled. Confirm
object.
the settings.
Failed to convert program.
1420
Execute rebuild.
Initialization failure.
1421
Cannot allocate memory.
Finalization failure.
1422
Failed to finalization of controller.
1423 Invalid convertion file path.
1424 Invalid Prg file path.
1425 Invalid Command file path.
1426 Invalid convertion file.
1427 Invalid Command file.
Failed to execute convertion of
1428 program. Rebuild the project.
Execute rebuild.
1429 Failed to write Prg file.
1500 Communication error. -
Execute the command again after a
1501 Command did not complete in time. while. Check the connection between
the EPSON RC+7.0 and controller.

162 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

1:
Communicatio
n timeout
2: USB cable
Communication disconnection disconnection
Check the connection between the
1502 between RC+ and Controller. 3: USB
EPSON RC+7.0 and controller.
Re-establish communication. reception
failure
4: USB
communicatio
n shutdown
Check the connection between the
1503 Disconnection while executing a task.
console device and controller.
Communication disconnection
between Remote Ethernet and Check the connection between the
1504
Controller. Re-establish Remote Ethernet device and controller.
communication.
Communication disconnection
between Remote RS232 and Check the connection between the
1505
Controller. Re-establish Remote RS232 device and controller.
communication.
Communication disconnection
Check the connection between TP3 and
1506 between TP3 and Controller.
controller.
Re-establish communication.
Check the IP address setting of the
1510 Out of IP Address range.
controller.
The IP address is reserved. Set the
1511 Reserved IP Address.
other IP address.
The gateway address is reserved. Set
1512 Reserved IP Gateway.
the other gateway address.
Vision communication.
1521 Reboot the controller.
Failed to initialize Ethernet.
Vision communication.
1522 -
Failed to terminate Ethernet.
Vision communication.
1523 Reboot the controller.
Failed to create the socket handle.
Vision communication. Check the connection between the
1524
Failed to connect. camera and controller.
Vision communication. Check the connection between the
1526
Failed to send to the server. camera and controller.
Vision communication. Check the connection between the
1527
Failed to read from the server. camera and controller.
Vision communication.
1528 -
Failed to set option.
Vision communication.
1529 Reboot the controller.
Ethernet has not been initialized yet.
Vision communication. Check the connection between the
1530
Connection is not completed. camera and controller.
Vision communication.
1531 -
All sockets are used.
Vision communication. Check the connection between the
1532
Sending time-out. camera and controller.
Vision communication. Check the connection between the
1533
Receiving time-out. camera and controller.
Vision communication. Check the connection between the
1534
Communication error. camera and controller.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 163

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Communication failure. Reboot the controller. Check the
1550
Ethernet initialization error. connection of the Ethernet cable.
Communication failure. Reboot the controller. Check the
1551
USB initialization error. connection of the USB cable.
Communication failure.
1552 Controller internal communication Reboot the controller.
error.
Communication failure.
1553 -
Invalid data is detected.
Check the connection between the
1555 Ethernet transmission error.
EPSON RC+7.0 and controller.
Check the connection between the
EPSON RC+7.0 and controller.
1556 Ethernet reception error. If the router is used between the PC and
controller, confirm that the DHCP
function is disabled.
Check the connection between the
1557 USB transmission error.
EPSON RC+7.0 and controller.
Check the connection between the
1558 USB reception error.
EPSON RC+7.0 and controller.
Communication failure.
1559 -
Failed to allocate memory
Parser communication failure. 1. Reboot the controller.
1580
Communication error. 2. Upgrade the firmware.
Parser communication failure.
1. Reboot the controller.
1581 Time-out occurred during
2. Reinstall the firmware.
communication.
Parser communication failure. Reboot the controller.
1582
Transmission error. Rebuild the project.
Parser communication failure.
1583 Reboot the controller.
Initialization error.
Parser communication failure.
1584 Reboot the controller.
Connection error.
Parser communication failure. Reboot the controller.
1585
Parameter is invalid. Rebuild the project.
Parser communication failure.
1586 -
Busy
Parser communication failure.
1587 Upgrade the firmware.
Invalid data is detected.
Initialization failure.
1700 -
Failed to initialize TP.
Initialization failure.
1701 -
Failed to initialize TP.
Initialization failure.
1702 -
Failed to initialize TP.
File failure.
1703 -
Failed to read the screen data file.
1704 Failed to read the setting file. -
1706 Failed to open the TP port. -
1708 Failed to read the key table for TP. -
1709 Failed to change the language. -
1710 Failed to display the screen. -
The controller is already connected to Only one RC+ 7.0 can be connected to
1800
RC+. the controller.

164 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The command was attempted without
1802 Connect to the controller.
being connected to a controller.
Failed to read or write the file on the
1803 -
PC.
Initialization failure.
1804 -
Failed to allocate memory on the PC.
Connection failure.
Check the controller startup and
1805 -
connection of the communication
cable.
Timeout during connection via
1806 -
Ethernet.

1807 Timeout during connection via USB. -

Failed to install EPSON RC+ 7.0.
1808 USB driver is not installed.
Install EPSON RC+ 7.0 again.
Initialization failure.
1809 Reboot the System.
Failed to initialize PC daemon.
PC daemon error. 1. Reboot the EPSON RC+7.0.
1810
Uncommon error. 2. Reboot the PC.
Connection failure. Connected controller is RC180 or RC90
The connected controller is not compatible with EPSON RC+ 5.0.
1812
supported in EPSON RC+ 7.0. Check the connection between the PC
Please use EPSON RC+ 5.0. and controller.
1. Reboot the EPSON RC+7.0.
System error.
1852 2. Reboot the PC.
Uncommon error.
3. Reinstall the EPSON RC+ 7.0.
1. Reboot the EPSON RC+ 7.0.
Initialization failure.
1861 2. Reboot the PC.
Failed to initialize SimulatorMNG.
3. Reinstall the EPSON RC+ 7.0.
1. Reboot the EPSON RC+ 7.0.
Initialization failure.
1862 2. Reboot the PC.
Failed to initialize WBProxy.
3. Reinstall the EPSON RC+ 7.0.
1863 The parameter is invalid. -
Initialization failure. Installation of the EPSON RC+ 7.0
1864
Virtual controller does not exist. failed. Reinstall the software.
Initialization failure. 1. Retry after a while.
1865
Failed to start virtual controller. 2. Reboot the PC.
Cannot execute because it is not dry Dry run mode is invalid.
1867
run mode. Enable the dry run.
Initialization failure. Installation of the EPSON RC+ 7.0
1868
Directory cannot be found. failed. Reinstall the software.
Connection failure.
1872 Files for simulator that used real -
controller cannot be found.
Connection failure.
1873 Files for simulator that used virtual -
controller cannot be found.
Installation of the EPSON RC+ 7.0
1874 Virtual Controller cannot be added.
failed. Reinstall the software.
Simulator Object failure.
1875 Cannot load data for the simulator -
object.
Simulator Object failure.
1876 Cannot read data for the simulator -
object.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 165

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Simulator Object failure.
1877 Cannot remove data from the -
simulator object.
Simulator Object failure.
1878 Cannot update data for the simulator -
object.
Other virtual controllers may be used in
the EPSON RC+ 5.0.
1879 Other virtual controllers are starting.
Or, the virtual controller may be already
used in another EPSON RC+7.0.
1880 Cannot execute during controller reset. -
Unsupported.
1901 Update the firmware.
Unsupported command was attempted.
Unsupported.
1902 -
Unsupported parameter was specified.
1903 System error. -
System error.
1910 -
Failed to write the reboot file.

166 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Unsupported.
2000 Rebuild the project.
Unsupported command was attempted.
Unsupported.
2001 Unsupported motion command was Rebuild the project.
attempted.
Unsupported.
2003 Unsupported Function argument was Rebuild the project.
specified.
Unsupported.
2004 Unsupported Function return value Rebuild the project.
was specified.
Unsupported.
2005 Rebuild the project.
Unsupported condition was specified.
Unsupported.
2006 Unsupported I/O command was Rebuild the project.
specified.

2007 Unsupported condition was specified. Cannot jog in the CP motion (default).

Unsupported. Clicking the same jog button will operate

2008
Unknown error number. the robot in the PTP motion.
Unsupported.
2009 Cannot jog in the CP motion (default).
Invalid Task number.
Object file error.
2010 Build the project. Out of internal Rebuild the project.
code range.
Object file error.
2011 Build the project. Function argument Rebuild the project.
error.
Object file error.
2012 Build the project. Command Rebuild the project.
argument error.
Object file error.
2013 Build the project. Cannot process the Rebuild the project.
code.
Object file error.
2014 Build the project. Cannot process the Rebuild the project.
variable type code.
Object file error.
2015 Build the project. Cannot process the Rebuild the project.
string type code.
Object file error.
2016 Build the project. Cannot process the Rebuild the project.
variable category code.
Object file error.
2017 Build the project. Cannot process Rebuild the project.
because of improper code.
Object file error.
2018 Build the project. Failed to calculate Rebuild the project.
the variable size.
Object file error.
2019 Cannot process the variable wait. Rebuild the project.
Build the project.
Stack table number exceeded. Check whether no function is called
2020 Function call or local variable is out of infinitely. Reduce the Call function
range. depth.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 167

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Stack area size exceeded. If using many local variables, especially
2021 Stack error. Function call or local String type, replace them to global
variable is out of range. variables.
Stack failure. Required data not
2022 Rebuild the project.
found on the stack.
Stack failure. Unexpected tag found
2023 Rebuild the project.
on the stack.
Stack area size exceeded. Local
2024 Change the size of the Local variable.
variable is out of range.
System failure.
2031 Robot number is beyond the maximum Restore the controller configuration.
count.
System failure.
2032 Rebuild the project.
Task number compliance error.
System failure.
2033 Remedy the errors occurring frequently.
Too many errors.
Thread failure.
2040 Reboot the controller.
Failed to create the thread.
Thread failure.
2041 Reboot the controller.
Thread creation timeout.
Thread failure.
2042 Reboot the controller.
Thread termination timeout.
Thread failure.
2043 Reboot the controller.
Thread termination timeout.
Thread failure.
2044 Reboot the controller.
Daemon process timeout.
Thread failure.
2045 Reboot the controller.
Task continuance wait timeout.
Thread failure.
2046 Reboot the controller.
Task stop wait timeout.
Thread failure.
2047 Reboot the controller.
Task startup wait timeout.
Object file operation failure.
2050 Object file size is beyond the allowable Rebuild the project.
size.
Object file operation failure.
2051 Cannot delete the object file during Reboot the controller.
execution.
Object file operation failure.
2052 Cannot allocate the memory for the Reboot the controller.
object file.
Object file operation failure.
Perform the same processing after a
2053 Object file cannot be accessed while it
while. Rebuild the project.
is updating.
Object file operation failure.
Synchronize the files of the project.
2054 Function ID failure. Rebuild the
Rebuild the project.
project.
Object file operation failure.
Synchronize the files of the project.
2055 Local variable ID failure. Rebuild the
Rebuild the project.
project.
Object file operation failure.
Synchronize the files of the project.
2056 Global variable ID failure. Rebuild
Rebuild the project.
the project.

168 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Object file operation failure.
Synchronize the files of the project.
2057 Global Preserve variable ID failure.
Rebuild the project.
Rebuild the project.
Object file operation failure. Synchronize the files of the project.
2058
Failed to calculate the variable size. Rebuild the project.
Exceed the global variable area.
Reduce the number of Global variables
2059 Cannot assign the Global variable area
to be used.
because it failed to allocate memory.
SRAM failure.
2070 Replace the CPU board.
SRAM is not mapped.
SRAM failure.
Perform the same processing after a
2071 Cannot delete when Global Preserve
while. Rebuild the project.
variable is in use.
Exceed the backup variable area.
The size you
Cannot assign the Global Preserve Reduce the number of Global Preserve
2072 Maximum size attempted to
variable area because it failed to variables to be used.
use
allocate memory.
SRAM failure.
2073 Failed to clear the Global Preserve Rebuild the project.
variable area.
SRAM failure.
2074 Failed to clean up the Global Preserve Reboot the controller.
variable save area.
Initialization failure.
2100 Restore the controller configuration.
Failed to open the initialization file.
Initialization failure.
2101 Reboot the controller.
Duplicated initialization.
Initialization failure.
2102 Reboot the controller.
Failed to initialize MNG.
Initialization failure.
2103 Reboot the controller.
Failed to create an event.
Initialization failure.
2104 Reboot the controller.
Failed to setup a priority.
Initialization failure.
2105 Reboot the controller.
Failed to setup the stack size.
Initialization failure.
2106 Reboot the controller.
Failed to setup an interrupt process.
Initialization failure.
2107 Reboot the controller.
Failed to start an interrupt process.
Initialization failure.
2108 Reboot the controller.
Failed to stop an interrupt process.
Initialization failure.
2109 Reboot the controller.
Failed to terminate MNG.
Initialization failure.
2110 Reboot the controller.
Failed to allocate memory.
Initialization failure.
2111 Restore the controller configuration.
Failed to initialize motion.
Initialization failure.
2112 Reboot the controller.
Failed to terminate motion.
Initialization failure.
2113 Replace the CPU board.
Failed to map SRAM.
Initialization failure.
2114 Replace the CPU board.
Failed to register SRAM.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 169

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Initialization failure.
2115 Fieldbus board is beyond the Check the number of fieldbus boards.
maximum count.
Reboot the controller.
Initialization failure.
2116 Check the fieldbus board.
Failed to initialize fieldbus.
Replace the fieldbus board.
Initialization failure.
2117 Reboot the controller.
Failed to terminate fieldbus.
Initialization failure.
2118 Restore the controller configuration.
Failed to open motion.
Initialization failure. Make sure the settings of conveyor and
2119
Failed to initialize conveyor tracking. encoder are correct.
Initialization failure.
2120 Reboot the controller.
Failed to allocate the system area.
Initialization failure.
2121 Reboot the controller.
Failed to allocate the object file area.
Initialization failure.
2122 Reboot the controller.
Failed to allocate the robot area.
Initialization failure.
2123 Reboot the controller.
Failed to create event.
Initialization failure.
Install the Fieldbus module purchased
2124 An unsupported Fieldbus module is
from SEC.
installed.
The settings are initialized since the Since the initial setting file has
2126 initial setting file is corrupted. significantly corrupted, the initial setting
Restore the system. file of factory-default is used.
MCD failure.
2130 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
2131 Restore the controller configuration.
Failed to map the MCD file.
PRM failure.
2132 Restore the controller configuration.
PRM file cannot be found.
PRM failure.
2133 Restore the controller configuration.
Failed to map the PRM file.
PRM failure.
2134 Restore the controller configuration.
PRM file contents error.
PRM failure.
2135 Reboot the controller.
Failed to convert the PRM file.
PRM failure.
2136 Reboot the controller.
Failed to convert the PRM file.
PRM failure.
2137 Reboot the controller.
Failed to convert the PRM file.
Communication with drive units is not
DU Initialization Error. available for the virtual controllers.
2140
Cannot use drive units. Return the configuration file to original
setting if it was changed.
DU Initialization Error. Failed to
2141 Check the connection with drive units.
initialize drive units.
DU Initialization t Error.
2142 Check the connection with drive units.
Failed to initialize drive units.
DU Initialization Error.
2143 Timeout during initialization of drive Check the connection with drive units.
units.
DU Initialization Error.
2144 Reboot the control unit and drive units.
No data to download to drive units.

170 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

DU Initialization Error.
2145 Failed to start communication with Reboot the control unit and drive units.
drive units.
DU Initialization Error.
2146 Timeout when starting communication Reboot the control unit and drive units.
with drive units.
Review the software update setting.
DU Initialization Error. Failed to
2147 Check the connection with the Drive
update the drive units software.
Unit.
DU Initialization Error. Failed to Check the file name.
2148
update the drive units software. Check the update file.
Check the Drive Unit power and
DU Initialization Error. Failed to
2149 connection.
update the drive units software.
Reboot the Controller.
Operation failure.
2150 Reboot the Controller.
Task number cannot be found.
Operation failure.
2151 Reboot the Controller.
Executing the task.
Operation failure.
2152 Reboot the Controller.
Object code size failure.
Operation failure.
2153 Reboot the Controller.
Jog parameter failure.
Operation failure.
2154 Reboot the Controller.
Executing jog.
Operation failure.
2155 Cannot execute the jog function. Reboot the Controller.

Operation failure.
2156 Jog data is not configured. Reboot the Controller.

Operation failure.
2157 Reboot the Controller.
Failed to change the jog parameter.
Operation failure.
2158 Failed to allocate the area for the break Reboot the Controller.
point.
Operation failure.
2159 Break point number is beyond the Reduce the break points.
allowable setup count.
Operation failure.
2160 Failed to allocate the function ID. Reboot the Controller.

Operation failure.
2161 Failed to allocate the local variable Reboot the Controller.
address.
Operation failure.
2162 Not enough buffer to store the local Review the size of the Local variable.
variable.
Operation failure.
2163 Value change is available only when Halt the task by the break point.
the task is halted.
Operation failure.
2164 Failed to allocate the global variable Review the size of the global variable.
address.
Operation failure.
2165 Not enough buffer to store the global Review the size of the global variable.
variable.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 171

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Operation failure.
Review the size of the global preserve
2166 Failed to obtain the Global Preserve
variable.
variable address.
Operation failure.
Review the size of the global preserve
2167 Not enough buffer to store the Global
variable.
Preserve variable.
Operation failure.
2168 Reboot the Controller.
SRAM is not mapped.
Operation failure.
2169 Cannot clear the Global Preserve Reboot the Controller.
variable when loading the object file.
Operation failure.
2170 Not enough buffer to store the string. Check the size of the string variable.

Operation failure.
Check the controller power.
2171 Cannot start the task after low voltage
Reboot the Controller.
was detected.
Operation failure.
2172 Reboot the Controller.
Duplicated remote I/O configuration.
Remote setup error.
2173 Cannot assign non-existing input Check the I/O input number.
number to remote function.
Remote setup error.
2174 Cannot assign non-existing output Check the I/O output number.
number to remote function.
Operation failure.
2175 Reboot the Controller.
Remote function is not configured.
Operation failure.
2176 Reboot the Controller.
Event wait error.
Operation failure. Reboot the Controller.
2177
System backup failed. Install the Controller firmware.
Operation failure. Reboot the Controller.
2178
System restore failed. Install the Controller firmware.
Remote setup error.
2179 Cannot assign same input number to Check the remote setting.
some remote functions.
Remote setup error.
2180 Cannot assign same output number to Check the remote setting.
some remote functions.
Operation failure.
2181 Task number has not been reserved for Set the number of RC+API tasks.
RC+ API.
Cannot calculate because it was queue
2190 Review the program.
data.
Cannot execute AbortMotion because If you don’t operate the robot from a
2191
robot is not running from a task. program, you cannot use AbortMotion.
Cannot execute AbortMotion because Task is completed.
2192
robot task is already finished. Review the program.
Cannot execute Recover without
Execute AbortMotion in advance to
2193 motion because AbortMotion was not
execute Recover WithoutMove.
executed.
Make sure the settings of conveyor and
2194 Conveyor setting error.
encoder are correct.
Make sure the settings of conveyor and
2195 Conveyor setting error.
encoder are correct.
Make sure the settings of conveyor and
2196 Conveyor number is out of range.
encoder are correct.

172 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Command parameter prohibited for
2197 Delete LJM.
conveyor tracking motion was used.
The motion command for the robot
Robot in use.
cannot be simultaneously executed from
2200 Cannot execute the motion command
more than one task. Review the
when other tasks are using the robot.
program.
Check whether the robot setting is
2201 Robot does not exist. performed properly. Restore the
controller configuration.
Motion control module status failure.
2202 Rebuild the project.
Unknown error was returned.
The Local number 0 cannot be cleared.
2203 Cannot clear local number ' 0 '.
Review the program.
The Arm
The Arm cannot be cleared while it is in
number you
2204 Cannot clear an arm while in use. use. Check whether the Arm is not
attempted to
used.
clear
The Arm number 0 cannot be cleared.
2205 Cannot clear arm number ' 0 '.
Review the program.
The Tool
The Tool cannot be cleared while it is in
number you
2206 Cannot clear a tool while in use. use. Check whether the Tool is not
attempted to
used.
clear
The Tool number 0 cannot be cleared.
2207 Cannot clear tool number ' 0 '.
Review the program.
The ECP number 0 cannot be cleared.
2208 Cannot clear ECP ' 0 '.
Review the program.

The ECP
The ECP cannot be cleared while it is in
number you
2209 Cannot clear an ECP while in use. use. Check whether the ECP is not
attempted to
used.
clear

The command processing the Local

Cannot specify ' 0 ' as the local
2210 cannot specify the Local number 0.
number.
Review the program.
Available Box numbers are from 1 to 15.
2216 Box number is out of range.
Review the program.
Specified Box is not defined.
2217 Box number is not defined.
Review the Box number.
Available Box numbers are from 1 to 15.
2218 Plane number is out of range.
Review the program.
Specified Plane is not defined. Review
2219 Plane number is not defined.
the Plane number.
PRM failure. No PRM file data is Reboot the controller. Restore the
2220
found. controller configuration.
PRM failure. Failed to flash the PRM Reboot the controller. Restore the
2221
file. controller configuration.
Check the Local setting. Review the The specified
2222 Local number is not defined.
program. Local number

Available Local number is from 1 to 15. The specified

2223 Local number is out of range.
Review the program. Local number

2224 Unsupported. MCOFS is not defined -

2225 CalPls is not defined. Check the CalPls setting.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 173

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Available Arm number is from 0 to 3.
Depending on commands, the Arm The specified
2226 Arm number is out of range.
number 0 is not available. Review the Arm number
program.
Check the Arm setting. Review the The specified
2227 Arm number is not defined.
program. Arm number
Pulse for the home position is not
2228 Check the HomeSet setting.
defined.
Available Tool number is from 0 to 3.
Depending on commands, the Tool The specified
2229 Tool number is out of range.
number 0 is not available. Review the Tool number
program.
Check the Tool setting. Review the The specified
2230 Tool number is not defined.
program. Tool number
Available Tool number is from 0 to 15.
Depending on commands, the Tool The specified
2231 ECP number is out of range.
number 0 is not available. Review the ECP number
program.
Check the ECP setting. Review the The specified
2232 ECP number is not defined.
program. ECP number
Axis to reset the encoder was not Be sure to specify the axis for encoder
2233
specified. reset.
Cannot reset the encoder with motor in
2234 Turn the motor power OFF before reset.
the on state.
Check the XYLim setting. Review the
2235 XYLIM is not defined.
program.
PRM failure. Failed to set up the
Reboot the controller. Restore the
2236 PRM file contents to the motion
controller configuration.
control status module.
Available Pallet numbers are from 0 to
2237 Pallet number is out of range.
15. Review the program.
2238 Pallet is not defined. Check the Pallet setting.
The
Array subscript is out of user defined
Check the array subscript. Review the dimensions The specified
2240 range. Cannot access or update
program. exceeding the subscript
beyond array bounds.
definition
Dimensions of array do not match the Check the array's dimensions. Review
2241
declaration. the program.
2242 Zero '0' was used as a divisor. Review the program.
Variable overflow. Specified variable
Check the variable type and calculation
2243 was beyond the maximum allowed
result. Review the program.
value.
Variable underflow. Specified
Check the variable type and calculation
2244 variable was below the minimum
result. Review the program.
allowed value.
This command cannot be executed for
Cannot execute this command with a
2245 Real or Double type. Review the
floating point number.
program.
Cannot calculate the specified value Check the specified value. Review the The specified
2246
using the Tan function. program. value

Specified array subscript is less than ' 0 Check the specified value. Review the The specified
2247
'. program. value

Array failure. Redim can only be You attempted to Redim the variable that
2248
executed for an array variable. is not array. Rebuild the project.

174 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Array failure. Cannot specify Other than a single dimension array was
2249 Preserve for other than a single specified as Preserve for Redim.
dimension array. Rebuild the project.
Array failure. Failed to calculate the
2250 Rebuild the project.
size of the variable area.
Reduce the number of subscripts to be
Cannot allocate enough memory for
2251 specified for Redim. Perform Redim
Redim statement.
modestly.
Cannot allocate enough memory for Reduce the number of array's subscripts
2252
ByRef. to be seen by ByRef.
Check whether the string type and the
Cannot compare characters with
2253 numeric data type are not compared.
values.
Review the program.
The number
Specified data is beyond the array The number of
Check the number of array's subscripts of data to be
2254 bounds. Cannot refer or update array
and data. Review the program. referred or
beyond the array bounds. subscripts
updated
Variable overflow or underflow. The value that exceeds the range of
2255 Specified variable is out of value Double type is specified. Review the
range. program.
Reduce the number of subscripts to be
Specified array subscript is beyond the
2256 specified. For available subscripts, see
maximum allowed range.
the online help.
Cannot specify Int64 variable or Int64 variable or UInt64 variable cannot
2257
UInt64 variable. be specified. Correct the program.
Task number is out of the available For available task number, see the online The specified
2260
range. help. Review the program. task number

The specified
2261 Specified task number does not exist. Review the program.
task number

Robot number is out of the available The available Robot number is 1. The specified
2262
range. Review the program. robot number
Output number is out of the available
For available output number, see the The specified
2263 range. The Port No. or the Device
online help. Review the program. output number
No. is out of the available range.
Command argument is out of the
available range. Check the For available range of argument, see the The Added What number
2264
arguments. Added data 1: Passed online help. Review the program. value argument?
value. Added data 2: argument order.
Joint number is out of the available Available Joint number is from 1 to 6. The specified
2265
range. Review the program. joint number

Available wait time is from 0 to The specified

2266 Wait time is out of available range.
2147483. Review the program. wait time

Timer number is out of available Available timer number is from 0 to 15. The specified
2267
range. Review the program. timer number

Available trap number is from 1 to 4. The specified

2268 Trap number is out of available range.
Review the program. trap number

For available language ID, see the online The specified

2269 Language ID is out of available range.
help. Review the program. language ID
Specified D parameter value for the The specified
Available D parameter value is from 0 to
2270 parallel process is out of available D parameter
100. Review the program.
range. value

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 175

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Available arch number is from 0 to 7. The specified
2271 Arch number is out of available range.
Review the program. arch number
The specified number representing a
control device or display device is out of
The specified
2272 Device No. is out of available range. available range. For available device
device number
number, see the online help. Review
the program.
What number
Available output data value is from 0 to
2273 Output data is out of available range. Output data byte data is
255. Review the program.
out of range?

Asin argument is out of available

2274 Review the program.
range. Range is from -1 to 1.
Acos argument is out of available
2275 Review the program.
range. Range is from -1 to 1.
2276 Sqr argument is out of available range. Review the program.
Randomize argument is out of
2277 Review the program.
available range.
Sin, Cos, Tan argument is out of
2278 Review the program.
available range.
Timeout period set by the TMOut
statement expired before the wait Investigate the cause of timeout. Check
2280 Timeout period
condition was completed in the WAIT whether the set timeout period is proper.
statement.
Timeout period set by TMOut
Investigate the cause of timeout. Check Timeout
2281 statement in WaitSig statement or Signal number
whether the set timeout period is proper. period
SyncLock statement expired.
Timeout period set by TMOut
Investigate the cause of timeout. Check Timeout
2282 statement in WaitNet statement Port number
whether the set timeout period is proper. period
expired.
Timeout.
2283 Reboot the controller.
Timeout at display device setting.
Cannot execute the motion command
after using the user function in the
2290 Cannot execute a motion command.
motion command. Review the
program.
Cannot execute OnErr in the motion
command when using user function in
2291 Cannot execute the OnErr command.
the motion command. Review the
program.
I/O command cannot be executed while
Cannot execute an I/O command while
2292 the safeguard is open. Review the
the safeguard is open. Need Forced.
program
Cannot execute an I/O command I/O command cannot be executed during
2293 during emergency stop condition. emergency stop condition. Review the
Need Forced. program.
Cannot execute an I/O command when
I/O command cannot be executed while
2294 an error has been detected. Need
an error occurs. Review the program.
Forced.
Cannot execute this command from a For details on in executable commands,
2295 NoEmgAbort Task and Background refer to the online help.
Task. Review the program.
One or more source files are updated.
2296 Rebuild the project.
Please build the project.

176 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot execute an I/O command in
I/O command cannot be executed in
2297 TEACH mode without the Forced
TEACH mode. Review the program.
parameter.
You cannot execute Cont and Recover
Cannot continue execution in Trap
2298 statements with processing task of Trap
SGClose process.
SGClose.
Cannot execute this command. Need
Enable the [enable the advance task
the setting [enable the advance task
2299 control commands] from RC+ to execute
control commands] from RC+
the command.
controller preference settings.
The motion command for the robot
Robot in use. Cannot execute the Task number
cannot be simultaneously executed from
2300 motion command when other task is that is using
more than one task. Review the
using the robot. the robot
program.
Cannot execute the motion command Execute the motion command with the
2301
when the Enable Switch is OFF. enable switch gripped.
Another function cannot be called from
Cannot execute a Call statement in a
2302 the function called by Trap Call.
Trap Call process.
Review the program.
Cannot execute a Call statement in a
2303 Review the program.
parallel process.
Cannot execute an Xqt statement in a
2304 Review the program.
parallel process.
Cannot execute a Call statement from
2305 Execute Call from the program.
the command window.
Cannot execute an Xqt statement from
2306 Review the program.
the task started by Trap Xqt.
Cannot execute this command while
2307 Check whether all tasks are completed.
tasks are executing.
Find the previously occurring error in the
Cannot turn on the motor because of a
2308 error history and resolve its cause.
critical error.
Then, reboot the controller.
Cannot execute a motion command
2309 Check the safeguard status.
while the safeguard is open.
Cannot execute a motion command Execute the Continue or Stop and then
2310
while waiting for continue. execute the motion command.
Cannot execute a motion command Wait until the Continue is complete and
2311
during the continue process. then execute the motion command.
Cannot execute a task during
2312 Check the emergency stop status.
emergency stop condition.
Cannot continue execution
Wait 1.5 seconds after the safeguard is
2313 immediately after opening the
open, and then execute the Continue.
safeguard.
Cannot continue execution while the
2314 Check the safeguard status.
safeguard is open.
Cannot execute Cont and Restart
2315 Wait until the Continue is completed.
command in resume operation.
Cannot continue execution after an
2316 Check the error status.
error has been detected.
Cannot execute the task when an error Reset the error by Reset and then execute
2317
has been detected. the task.
Cannot execute a motion command Execute the motion command after
2318
when an error has been detected. resetting the error by Reset.
Cannot execute an I/O command
2319 Check the emergency stop status.
during emergency stop condition.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 177

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Function failure. Argument type does
2320 Rebuild the project.
not match.
Function failure. Return value does
2321 Rebuild the project.
not match to the function.
Function failure.
2322 Rebuild the project.
ByRef type does not match.
Function failure. Failed to process
2323 Rebuild the project.
the ByRef parameter.
Function failure. Dimension of the
2324 Rebuild the project.
ByRef parameter does not match.
Function failure. Cannot use ByRef
2325 Rebuild the project.
in an Xqt statement.
Cannot execute a Dll Call statement
2326 Execute DII Call from the program.
from the command window.
Check the DLL.
2327 Failed to execute a Dll Call.
Review the program.
Cannot execute the task before You need to connect with RC+ before
2328
connection with RC+. executing the task.
Cannot execute an Eval statement in a
2329 Check the program.
Trap Call process.
Trap failure.
2330 Cannot use the argument in Trap Call Check the program.
or Xqt statement.
Trap failure.
2331 Rebuild the project.
Failed to process Trap Goto statement.
Trap failure.
2332 Rebuild the project.
Failed to process Trap Goto statement.
Trap failure.
2333 Rebuild the project.
Trap is already in process.
Cannot execute an Eval statement in a
2334 Check the program.
Trap Finish or a Trap Abort process.
Cannot continue execution and Reset
2335 Check the program.
Error in TEACH mode.
Go Here :Z(0) ! D10; MemOn(1) !
is not executable.
Cannot use Here statement with a
2336 Change the program to:
parallel process.
P999 = Here
Go P999 Here :Z(0) ! D10; MemOn(1) !
Cannot execute except from an event
2337 Review the program.
handler functions of GUI Builder.
Cannot execute Xqt, data input, and Cannot execute in TEST mode.
2338
output for TP in a TEST mode. Review the program.
Change the setting to “cooperative
2339 Cannot execute in stand-alone mode.
mode” and execute.
Specified value in InBCD function is
2340 Review the program. Tens digit Units digit
an invalid BCD value.
Specified value in the OpBCD The specified
2341 Review the program.
statement is an invalid BCD value. value
Cannot change the status for output bit 1: bit, 2: byte,
2342 Check the remote I/O setting. I/O number
configured as remote output. 3: word
Output time for asynchronous output
The specified
2343 commanded by On or Off statement is Review the program.
time
out of the available range.

178 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Review the program.
I/O input/output bit number is out of
Check whether the expansion I/O board
2344 available range or the board is not Bit number
and Fieldbus I/O board are correctly
installed.
detected.
Review the program.
I/O input/output byte number is out of
Check whether the expansion I/O board
2345 available range or the board is not Byte number
and Fieldbus I/O board are correctly
installed.
detected.
Review the program.
I/O input/output word number is out of
Check whether the expansion I/O board
2346 available range or the board is not Word number
and Fieldbus I/O board are correctly
installed.
detected.
Memory I/O bit number is out of
2347 Review the program. Bit number
available range.
Memory I/O byte number is out of
2348 Review the program. Byte number
available range.
Memory I/O word number is out of
2349 Review the program. Word number
available range.
Command allowed only when virtual The command can be executed only for
2350
I/O mode is active. virtual I/O mode.
Specified command cannot be Execute specified command from the
2353
executed from the Command window. program.
Cannot execute the I/O output
Execute the I/O output command with
2354 command when the Enable Switch is
the enable switch gripped.
OFF.
File failure.
2360 Restore the controller configuration.
Failed to open the configuration file.
File failure.
2361 Restore the controller configuration.
Failed to close the configuration file.
File failure.
2362 Failed to open the key of the Restore the controller configuration.
configuration file.
File failure.
2363 Failed to obtain a string from the Restore the controller configuration.
configuration file.
File failure.
2364 Restore the controller configuration.
Failed to write in the configuration file.
File failure.
2365 Restore the controller configuration.
Failed to update the configuration file.
The string combination exceeds the The maximum string length is 255. Combined
2370
maximum string length. Review the program. string length
The maximum string length is 255. The specified
2371 String length is out of range.
Review the program. length
Invalid character is specified after the
2372 Review the program.
ampersand in the Val function.
Illegal string specified for the Val
2373 Review the program.
function.
String Failure. Invalid character code
2374 Review the program.
in the string.
Cannot use ' 0 ' for Step value in
2380 Check the Step value.
For...Next.
Relation between For...Next and
2381 GoSub is invalid. Going in or out of Review the program.
a For...Next using a Goto statement.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 179

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot execute Return while executing
2382 Review the program.
OnErr.
Return was used without GoSub.
2383 Review the program.
Review the program.
Case or Send was used without Select.
2384 Review the program.
Review the program.
Cannot execute EResume while
2385 Review the program.
executing GoSub.
EResume was used without OnErr.
2386 Review the program.
Review the program.
Curve failure. Reboot the controller.
2400
Failed to open the Curve file. Create a Curve file again.
Curve failure.
Reboot the controller.
2401 Failed to allocate the header data of the
Create a Curve file again.
curve file.
Curve failure. Reboot the controller.
2402
Failed to write the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2403
Failed to open the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2404
Failed to update the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2405
Failed to read the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2406
Curve file is corrupt. Create a Curve file again.
Curve failure. Reboot the controller.
2407
Specified a file other than a curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2408
Version of the curve file is invalid. Create a Curve file again.
Curve failure.
Reboot the controller.
2409 Robot number in the curve file is
Create a Curve file again.
invalid.
Curve failure.
2410 Cannot allocate enough memory for Reboot the controller.
the CVMove statement.
Specified point data in the Curve The maximum number of points
2411 statement is beyond the maximum specified in the Curve statement is 200.
count. Review the program.
Specified number of output commands The maximum number of output
2412 in the Curve statement is beyond the commands specified in the Curve
maximum count. statement is 16. Review the program.
Curve failure. Specified internal code
2413 is beyond the allowable size in Curve Reboot the controller.
statement.
The maximum number of points
Specified continue point data P(:) is
2414 specified continuously is 200. Review Start point End point
beyond the maximum count.
the program.
Curve failure. Reboot the controller.
2415
Cannot create the curve file. Create a Curve file again.
Check whether the specified Curve file
2416 Curve file does not exist.
name is correct.
Curve failure.
Check whether no output command is
2417 Output command is specified before
specified before the point data.
the point data.

180 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Error message failure.
2430 Reboot the controller.
Error message file does not exist.
Error message failure.
2431 Reboot the controller.
Failed to open the error message file.
Error message failure.
2432 Failed to obtain the header data of the Reboot the controller.
error message file.
Error message failure.
2433 Reboot the controller.
Error message file is corrupted.
Error message failure.
2434 Specified a file other than the error Reboot the controller.
message file.
Error message failure.
2435 Version of the error message file is Reboot the controller.
invalid.
File Error.
2440 Check the file number.
File number is already used.
File Error. Make sure the file exists and you
2441
Failed to open the file. specified the file correctly.
File Error.
2442 Open the file in advance.
The file is not open.
File Error. The file number is being
2443 Check the program.
used by another task.
2444 File Error. Failed to close the file. Check the file.
Review the program.
2445 File Error. File seek failed.
Check the pointer setting.
File Error.
2446 Close unnecessary files.
All file numbers are being used.
File Error. Use ROpen or UOpen that has read
2447
No read permission. access to the file.
File Error. Use WOpen or UOpen that has write
2448
No write permission. access to the file.
File Error. Use BOpen that has binary access to the
2449
No binary permission. file.
File Error.
2450 Check the file.
Failed to access the file.
2451 File Error. Failed to write the file. Check the file.
2452 File Error. Failed to read the file. Check the file.
File Error.
The specified command is not available
2453 Cannot execute the command for
in the current disk (ChDisk).
current disk.
2454 File Error. Invalid disk. Review the program.
2455 File Error. Invalid drive. Review the program.

2456 File Error. Invalid folder. Review the program.

Database Error. Review the program.
2460 The database number is already being Specify the number of other database.
used. Close the database.
Database Error. Review the program.
2461
The database is not open. Open the database.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 181

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Database Error.
2462 The database number is being used by Review the program.
another task.
Windows Communication Error. Reboot the Controller.
2470
Invalid status. Rebuild the project.
Windows Communication Error. Reboot the Controller.
2471
Invalid answer. Rebuild the project.
Windows Communication Error.
2472 Reboot the Controller.
Already initialized.
Windows Communication Error. Reboot the Controller.
2473
Busy. Rebuild the project.
Windows Communication Error. No Reboot the Controller.
2474
request. Rebuild the project.
Windows Communication Error. Reduce the data volume.
2475
Data buffer overflow. Review the program.
Windows Communication Error.
2476 Reboot the Controller.
Failed to wait for event.
Windows Communication Error.
2477 Make sure the specified folder is correct.
Invalid folder.
Windows Communication Error.
2478 Rebuild the project.
Invalid error code.
Specified event condition for Wait is The maximum number of event
2500
beyond the maximum count. conditions is 8. Review the program.
Specified bit number in the Ctr
The specified
2501 function was not initialized with a Review the program.
bit number
CTReset statement.
The available number of tasks that can be
Task number is beyond the maximum executed simultaneously is 32 for normal
2502
count to execute. tasks, and 16 for background tasks.
Review the program.
Cannot execute Xqt when the specified The specified
2503 Review the program.
task number is already executing. task number

Task failure. Specified manipulator

2504 Rebuild the project.
is already executing a parallel process.
Not enough data for Input statement Check the content of communication
2505
variable assignment. data. Review the program.
Specified variable for the Input For OP, only one variable can be
2506 statement is beyond the maximum specified. For other devices, up to 32
count. variables can be specified.
The available number of the counters
All counters are in use and cannot
2507 that can be set simultaneously is 16.
initialize a new counter with CTReset.
Review the program.
OnErr failure. Failed to process the
2508 Rebuild the project.
OnErr statement.
OnErr failure. Failed to process the
2509 Rebuild the project.
OnErr statement.
The specified I/O label is not registered.
2510 Specified I/O label is not defined.
Check the I/O label file.
SyncUnlock statement is used without
2511 executing a previous SyncLock Review the program. Signal number
statement. Review the program.

182 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The SyncLock statement cannot be
SyncLock statement was already
2512 executed for the second time in a row. Signal number
executed.
Review the program.
The specified point label is not
2513 Specified point label is not defined.
registered. Check the point file.
Failed to obtain the motor on time of
2514 Reboot the controller.
the robot.
Failed to configure the date or the Check whether a date and time is set
2515
time. correctly.
Failed to obtain the debug data or to
2516 Reboot the controller.
initialize.
Check the time set on the controller.
2517 Failed to convert into date or time.
Reboot the controller.
Larger number was specified for the Specify a larger number for the end point
2518 Start point End point
start point data than the end point data. data than that for the start point data.
2519 Invalid format syntax for FmtStr$. Check the format.
Check whether the specified point file
2520 File name is too long. name is correct. The maximum string
length of the file name is 32.
Check whether the specified point file
2521 File path is too long.
name is correct.
Make sure you don’t use improper
2522 File name is invalid.
characters for file name.
The continue process was already
2523 Review the program.
executed.
Cannot execute Xqt when the specified
2524 Review the program.
trap number is already executing.
Check whether a password is set
2525 Password is invalid.
correctly.
2526 No wait terms. Rebuild the project.
Too many variables used for global
2527 Review the program.
variable wait.
The global variable that was not able to
2528 be used for the wait command was Review the program.
specified.
Cannot use ByRef if the variable is
2529 Review the program.
used for global variable wait.
2530 Too many point files. Check the point file.
2531 The point file is used by another robot. Review the program.
Cannot progress the point position
2532 Check the point data.
because there is undefined data.
2533 Error on INP or OUTP. Review the program.
No main function to start for Restart Without executing main function, Restart
2534
statement. is called.
Does not allow Enable setting in Teach
2535 Setup the authority.
mode to be changed.
Failed to change Enable setting in
2536 Reboot the Controller.
Teach mode.
Count of point data P(:) is not correct
2537 Review the program.
or format of parameter is not correct.
Force_GetForces failure.
2538 Failed to process Force_GetForces Review the program.
statement.
2539 Password is invalid. Check the password.
2540 Not connected to RC+. Connect to the RC+.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 183

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Same robot number was specified.
2541 Duplicate parameter.
Check the parameter.
The specified work queue number is Available work queue number s are from
2542
invalid. 1 to 16. Review the program.
Specified sequence name cannot be
2543 Invalid sequence was specified.
found. Review the sequence name.
Specified object name cannot be found.
2544 Invalid object was specified.
Review the object name.
Specified calibration name cannot be
2545 Invalid calibration was specified.
found. Review the calibration name.
Cannot turn on the motor immediately Wait 1.5 seconds after the safeguard is
2546
after opening the safeguard. open, and then execute the motor on.
Too many force files. Reboot the controller.
2548 Delete the force files or use the Initialize the controller firmware.
existing force files. Replace the controller.
The force file which is not associated Reboot the controller.
2549 with the robot cannot be specified. Initialize the controller firmware.
Specify the correct force file. Replace the controller.
Specified command is not supported
Specified robot is not supported.
2550 for joint type robot and cartesian type
Check the robot configuration.
robot.
2551 Failed to Get the health information. Reboot the controller.
Does not allow setting in UL mode to
2552 Setup the authority.
be changed.
2553 Failed to change setting in UL mode. Reboot the Controller.
An error occured in Trap.
An error occured in Trap.
Note 1: Detailed error information
Check the corresponding error code in Detailed error
2557 Following the detailed error
the system history and take information
information, take a relevant
countermeasures.
countermeasure.
2558 Argument parameter is too long. Confrim a parameter of the argument.
Cannot execute when the motor is in Change to the state to motor on and
2559
the off state. execute.
The current robot number and the
Confirm the current robot number and Robot
robot number of the force guide
2560 the robot number of the force guide number
sequence property do not match.
sequence.
Please check the robot number.
The current robot type and the robot Confirm the current robot number and
type of the force guide sequence the robot number of the force guide
2561
property do not match. Reconfigure the sequence property.
RobotNumber property. Reconfigure the RobotNumber property.
The current tool number and the robot
Confirm the current tool number and the
tool of the force guide sequence
2562 robot tool of the force guide sequence Tool number
property do not match. Please check
property.
the tool number.
The point file being loaded does not
match the point file of the force guide Confrim the loaded point file and the the
2563
sequence property. point file of the force guide sequence.
Please check the point file.
An instruction that can not be executed
2564 Turn OFF the torque control and execute.
during torque control was executed.
Prohibited command while tracking Delete Prohibited commands from the
2565
was executed. program.
Cannot execute the FGRun command for
Cannot execute the FGRun command
2566 same robot. End the FGRun command
for same robot.
or execute it in other robot

184 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot execute the FGGet command for
Cannot execute the FGGet command the running force guide sequence.
2567
for the running force guide sequence. Execute it after the force guide sequence
ends.
An instruction that can not be executed
2568 by parallel processing was executed. Review the program.
Review the program.
Cannot get the force guide sequence
2569 Reboot the Controller.
property.
Sequence number is out of range.
Sequence number is from 1 to 64. Sequence
2570 Please check the specified sequence
Confirm the specified sequence number. number
number.
Object number is out of range. Please Object number isfrom 1 to 16. Confirm Object
2571
check the specified object number. the specified object number. number
Cannot clear the result of the force Reboot the Controller.
2572
guide.
2573 Cannot set the result of the force guide. Reboot the Controller.
Cannot get the result of the force Reboot the Controller.
2574
guide.
Storing the force guide sequence result Reboot the Controller.
2575
in a variable failed.
Force Sequence name that does not Confirm the specified force sequence
2576
exist was specified. name.
Force Object name that does not exist
2577 Confirm the specified force object name.
was specified.
Cannot execute the FGGet command
Confirm the specified force guide
2578 for the unexecuted force guide
sequence.
sequence.
Mass Property Object number is out of The MassProperties numbers that can be
2600 the allowable range. specified are from 1 to 15.
Check the range of numbers. Please review the program.
Please confirm the setting of
Mass Property Object is not defined.
2601 MassProperties.
Check the setting.
Please review the program.
Cannot clear Mass Property Object
while in use. MP cannot be cleared while in use.
2602
Specify another Mass Property Object Please confirm whether MP is in use.
before clearing the previous object.
Cannot clear Mass Property Object MP-number 0 cannot be cleared.
2603
number '0' Please review the program.
Failed in the confirmation of the DU Check whether the Drive Unit is
2840
connection count. connected properly.
Failed in the acquisition of the DU Check whether the Drive Unit is
2841
connection count. connected properly.
Failed in the confirmation of the DU Check whether the Drive Unit is
2842
connection information. connected properly.
Failed in the acquisition of the DU Check whether the Drive Unit is
2843
connection information. connected properly.
There is a missing number or repetition
2844 Check the dip switches of the Drive Unit
in the dip switch setting of DU.
Delete the
robot
registration or
The drive unit (DU) used by the robot Check whether the Drive Unit is
2845 connect the DU
is not connected. connected properly.
with the
manipulator
registered.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 185
Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Because the increase and decrease of The controller was rebooted due to
2846 the drive unit was recognized, the change of connection with the Drive
controller unit is rebooted. Unit.
It is necessary to change the dip switch
The dip switch setting of the Force
2847 setting.
Sensor I/F unit is improper.
Please inquire with us.
The Force Sensor I/F unit to which the
Please confirm whether it is possible to
Force Sensor is registered is not
2848 connect it with Force Sensor I/F unit
connected.
correctly.
Check connection.
Failed to initialize the Force Sensor I/F Please confirm whether it is possible to
2849 unit. connect it with Force Sensor I/F unit
Check connection. correctly.
Failed to initialize the Force Sensor I/F Please confirm whether it is possible to
2850 unit. connect it with Force Sensor I/F unit
Check connection. correctly.
The serial number of the sensor
connected with the registered sensor is
The Force Sensor which is different not corresponding.
from the registered sensor is Please exchange it for a new sensor after
2851 connected. confirming the connection, returning to
Check connection or review the the connected sensor, or invalidating the
setting. sensor. In case of intended
replacement, configure the connection
settings again in the sensor setting.
Please confirm whether it is possible to
The registered Force Sensor is not connect it with the registered sensor
2852 connected. correctly.
Check connection. Please invalidate the sensor when you do
not connect the sensor.
Failed to update the Force Sensor I/F Please review the soft update setting.
2853 unit software. Please confirm the connection with Force
Review the update procedure. Sensor I/F unit.
Failed to update the Force Sensor I/F
Please confirm the file name.
2854 unit software.
Please confirm the update file.
Review the update procedure.
Failed to update the Force Sensor I/F Please confirm the power supply and the
2855 unit software. connection of Force Sensor I/F unit.
Review the update procedure. Reboot the controller.
The version of the connected Force
The Force Sensor I/F unit with an old
Sensor I/F unit needs to be updated.
version is connected.
2856 Update the Force Sensor I/F unit. For
Update the Force Sensor I/F unit
update procedures, please inquiry with
software.
us.
The robot registered to the Force The robot that relates to the sensor is not
Sensor I/F unit is not connected. registered.
2857
Review the robot registration or the Please review the registration of the
Force Sensor configuration. robot or invalidate the robot connection.
Reboot the controller.
Failed to allocate memory for the force
2858 Please inquire with us if a similar error
monitor.
occurs after rebooting it.
Reboot the controller.
Failed to allocate memory for the force
2859 Please inquire with us if a similar error
log.
occurs after rebooting it.
The force monitor object specified in The same FM number cannot be
2860 the force log is in use. specified.
Specify another force monitor object. Please specify a different FM number.

186 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The maximum number of the force
The greatest log number is used.
2861 logs is executed.
Please confirm the number of logs.
Review the log timing.
Reboot the controller.
Failed to allocate memory of force
2862 Please inquire with us if a similar error
function.
occurs after rebooting it.
Execution of force guide sequence,
RecordStart, FCMStart and LogStart Execute after the LogStart property ends
2863
can not be executed at the same time. by LogEnd property.
Please review the program.
Execution of force guide sequence,
RecordStart, FCMStart and force
2864 monitor can not be executed at the Execute after quitting the Force Monitor.
same time.
Please quit either.
Execution of force guide sequence, Execute the LogStart property after the
RecordStart, FCMStart and LogStart RecordStart property ends by force guide
2865
can not be executed at the same time. sequence, force control monitor, or the
Please review the program. RecordEnd property.
Execution of force guide sequence,
Execute the force monitor after quitting
RecordStart, FCMStart and force
the RecordStart property by force guide
2866 monitor can not be executed at the
sequence, force control monitor, or the
same time.
RecordEnd property.
Please quit either.
The specified channel in use. The same channel cannot be specified.
2867
Specify another channel. Specify a different channel to execute.
The force monitor object being used is The same FM number cannot be
2868 specified. Please specify another force specified. Specify a different FM
monitor object. number to execute.
The specified duration of measurement
Specify the measurement time larger
is smaller than the specified
2869 than the measurement interval to
measurement interval.
execute.
Check the parameter.
The product of the specified duration
of measurement and the specified
Check the measurement time and
2870 measurement interval is out of
interval.
allowable range.
Check the parameter.
Execution of force guide sequence,
To execute newly, make sure to quit
RecordStart, FCMStart, force monitor
2871 either of the two running items and
can not be used more than three at the
execute.
same time.
To start force monitor newly, quit
Force monitor can not be launched
2872 therunning force monitor and start a new
twice.
one.
Check connection of the controller and
Force Sensor I/F board.
Failed to initialize the Force Sensor I/F
Reboot the controller.
2880 board.
Please inquire with us if a similar error
Check connection.
occurs even after rebooting the
controller.
Check connection of the controller and
Force Sensor I/F board.
Failed to initialize the Force Sensor I/F
Reboot the controller.
2881 board.
Please inquire with us if a similar error
Check connection.
occurs even after rebooting the
controller.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 187

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Detected two boards: Force Sensor I/F
board and RS-232C board.
Remove either Force Sensor I/F board or
2882 If using the Force Sensor I/F board,
the second board of RS-232C board.
RS-232C board is available up to one
board.
Detected two boards: Force Sensor I/F
board and RS-232C board with the
second board setting. Return the setting to the first board of
2883
If using the Force Sensor I/F board, RS-232C board.
return the setting to the first board of
RS-232C board.
Check connection of the controller and
Force Sensor I/F board.
Failed to initialize the Force Sensor I/F
Reboot the controller.
2884 board.
Please inquire with us if a similar error
Check connection.
occurs even after rebooting the
controller.
Sensor 3 and 4 of Force Sensors are
enabling.
Disable the sensor 3 and 4 of the Force
2885 If using Force Sensor I/F board,
Sensor.
disable the sensor 3 and 4 of Force
Sensors.
Check connection of the Force Sensor
I/F board and Force Sensor. Reboot the
Failed to communicate with Force
controller.
2886 Sensor I/F board and Force Sensor.
Please inquire with us if a similar error
Check connection of the Force Sensor.
occurs even after rebooting the
controller.
Unable to use the Force Sensor I/F board
Detected Force Sensor I/F board and
and Force Sensor I/F unit at the same
Force Sensor I/F unit.
2887 time.
Remove either Force Sensor I/F board
Remove either Force Sensor I/F board or
or Force Sensor I/F unit.
Force Sensor I/F unit.
Check whether the Ethernet port is set
Failed to open as server for the
2900 properly. Check whether the Ethernet
Ethernet port.
cable is connected properly.
Check whether the Ethernet port is set
Failed to open as client for the Ethernet
2901 properly. Check whether the Ethernet
port.
cable is connected properly.
Check whether the port of
2902 Failed to read from the Ethernet port.
communication recipient is not close.
2904 Invalid IP Address was specified. Review the IP address.
Ethernet failure.
2905 Review the program.
No specification of Server/Client.
Check whether the Ethernet port is set
2906 Ethernet port was not configured. Port number
properly.
Ethernet pot was already in use by A single port cannot be used by more
2907 Port number
another task. than one task.
Cannot change the port parameters The port parameters cannot be changed
2908 Port number
while the Ethernet port is open. while the port is open.
To use the Ethernet port, execute the
2909 Ethernet port is not open. Port number
OpenNet statement.
2910 Timeout reading from an Ethernet port. Check the communication. Timeout value
2911 Failed to read from an Ethernet port. Check the communication.

188 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Ethernet port was already open by A single port cannot be used by more
2912 Port number
another task. than one task.
Check whether the Ethernet port is set
2913 Failed to write to the Ethernet port. properly. Check whether the Ethernet Port number
cable is connected properly.
Ethernet port connection was not Check whether the port of
2914 Port number
completed. communication recipient is open.

The number of
Data received from the Ethernet port is The maximum length of a line is 255
2915 bytes in a
beyond the limit of one line. bytes.
received line

RS-232C failure. Check whether the RS-232C board is

2920
RS-232C port process error. correctly detected.
Check the parameter and
2921 Failed to read from the RS-232C port.
communication.
Failed to read from the RS-232C port. Slow down data transfer or reduce data
2922
Overrun error. size.
The RS-232C port hardware is not Check whether the RS-232C board is
2926 Port number
installed. correctly detected.
RS-232C port is already open by A single port cannot be used by more
2927 Port number
another task. than one task.
Cannot change the port parameters The port parameters cannot be changed
2928 Port number
while the RS-232C port is open. while the port is open.
To use the RS-232C port, execute the
2929 RS-232C port is not open. Port number
OpenCom statement.
Timeout reading from the RS-232C
2930 Check the communication. Timeout value
port.
2931 Failed to read from the RS-232C port. Check the communication.
RS-232C port is already open by A single port cannot be used by more
2932 Port number
another task. than one task.
2933 Failed to write to the RS-232C port. Check the communication. Port number
RS-232C port connection not
2934 Check the RS-232C port.
completed.
The number of
Data received from the RS-232C port The maximum length of a line is 255
2935 bytes in a
is beyond the limit of one line. bytes.
received line
Cannot execute while Remote Specified port is currently used.
2937
RS-232C are using. Specify another port.
Cannot execute while ModBus are Specified port is currently used.
2938
using. Specify another port.
Daemon failure. Failed to create the
2950 Reboot the Controller.
daemon thread.
Daemon failure. Timeout while
2951 Reboot the Controller.
creating the daemon thread.
Set the TP key switch to TEACH or
TEACH/AUTO switching key input
2952 AUTO properly. Check whether the TP
signal failure was detected.
is connected properly.
ENABLE key input signal failure was Check whether the TP is connected
2953
detected. properly.
Overcurrent probably occurred due to
short-circuit failure. Investigate the
2954 Relay weld was detected.
cause of the problem and take necessary
measures and then replace the DPB.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 189

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check whether the filter is not clogged

Temperature of regeneration resistor
up and the fan does not stop.
2955 was higher than the specified
If there is no problem on the filter and
temperature.
fan, replace the regenerative module.
MNG failure.
2970 Reboot the Controller.
Area allocate error.
MNG failure.
2971 Reboot the Controller.
Real time check error.
MNG failure.
2972 Reboot the Controller.
Standard priority error.
2973 MNG failure. Boost priority error. Reboot the Controller.
2974 MNG failure. Down priority error. Reboot the Controller.
2975 MNG failure. Event wait error. Reboot the Controller.
2976 MNG failure. Map close error. Reboot the Controller.
2977 MNG failure. Area free error. Reboot the Controller.
2978 MNG failure. AddIOMem error. Reboot the Controller.
2979 MNG failure. AddInPort error. Reboot the Controller.
2980 MNG failure. AddOutPort error. Reboot the Controller.
2981 MNG failure. AddInMemPort error. Reboot the Controller.
MNG failure.
2982 Reboot the Controller.
AddOutMemPort error.
2983 MNG failure. IntervalOutBit error. Reboot the Controller.
2984 MNG failure. CtrReset error. Reboot the Controller.
If you use the simulator, check if the
2997 Collision Detection object is placed in the direction of the
robot motion.
AbortMotion attempted when robot
2998 See Help for AbortMotion.
was not moving
AbortMotion attempted when robot
2999 See Help for AbortMotion.
was moving

190 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

When it is necessary to build the project
OBJ file size is large. TP1 may not
3000 from TP1, consider to reduce the
be able to build this project.
program.
The number of variables which is using
The number of variables which is
Wait command is exceeding 56 (the
3001 using Wait command is near the
maximum is 64). Check if there are
maximum allowed.
unnecessary variables.
Check if the DLL file exists in either of
the following folders:
- Project folder
3002 DLL file cannot be found.
- Windows system folder
- Configuration folder of environment
variable PATH
Check the name of the specified
3003 DLL function cannot be found. function. Also check the DLL file if the
specified function exists in the DLL.
3050 Main function is not defined. Declare a Main function.
3051 Function does not exist. Declare an unresolved function.
3052 Variable does not exist. Declare an unresolved variable.
3100 Syntax error. Correct the syntax error.
The number of parameters is excess or
3101 Parameter count error.
deficiency. Correct the parameters.
File name length is beyond the
3102 Shorten the file name.
maximum allowed.
3103 Duplicate function definition. Change the function name.
3104 Duplicate variable definition ‘ ** ’. Change the variable name.
Global and Global Preserve variables
Declare the Global and Global Preserve
3105 cannot be defined inside a function
variables outside the function block.
block.
3106 An undefined function was specified. Specify a valid function name.
The While/Until statement is specified
Both While and Until for Do...Loop for both Do statement and Loop
3107
was specified. statement. Delete either While/Until
statement.
Specified line number or label ‘ ** ’
3108 Set the line label.
does not exist.
The direct numerical specification
3109 Overflow error.
overflows. Reduce the numeric value.
An undefined variable was specified There is an undefined variable. Declare
3110
‘ ** ’. the variable.
Specified variable is not an array
3111 Specify the array variable.
variable.
Dimension of the array cannot be
Cannot change the dimensions of the
3112 changed in Redim statement during the
array variable.
run time. Correct the program.
Specified Next variable does not
3114 Correct the variable name.
match the specified For variable.
Specify a single point for the point flag
Cannot use a point expression in the
3115 setting. Do not specify a point
first argument.
expression.
Array number of dimensions does not
3116 Check the number of array dimensions.
match the declaration.
The file that configures the project
3117 File cannot be found. cannot be found. Check the project
folder if the file exists.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 191

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The number of EndIf statements that
3118 Corresponding EndIf cannot be found. correspond to If and ElseIf statements is
not enough. Add the EndIf statements.
The number of Loop statements that
3119 Corresponding Loop cannot be found. correspond to Do statements is not
enough. Add the Loop statements.
The number of Next statements that
3120 Corresponding Next cannot be found. correspond to For statements is not
enough. Add the Next statements.
The number of Send statements that
3121 Corresponding Send cannot be found. correspond to Select statements is not
enough. Add the Send statements.
An upper limit (max. 16) is set on the
On/Off statements are beyond the number of On/Off statements in Curve
3123
maximum count. statement. Check the upper limit and
correct the program.
An upper limit (“200” for open curves,
“50” for closed curves) is set on the
Point number is beyond the maximum
3124 available number of points in Curve
count.
statement. Check the upper limit and
correct the program.
The number of EndIf statements that
3125 Corresponding If cannot be found. correspond to If statements is too many.
Delete the unnecessary EndIf.
The number of Loop statements that
3126 Corresponding Do cannot be found. correspond to Do statements is too many.
Delete the unnecessary Loop.
The number of Send statements that
3127 Corresponding Select cannot be found. correspond to Select statements is too
many. Delete the unnecessary Send.
The number of Next statements that
3128 Corresponding For cannot be found. correspond to For statements is too
many. Delete the unnecessary Next.
'_' cannot be used as the first character Change the first character of the
3129
of an identifier. identifier to an alphabetic character.
ROT parameter cannot be specified in
3130 Cannot specify ROT parameter. BGo, Go, TGo, Jump, and Jump3
statements. Correct the program.
ECP parameter cannot be specified in
3131 Cannot specify ECP parameter. BGo, Go, TGo, Jump, Jump3, and Arc
statements. Correct the program.
Arch parameter cannot be specified in
BGo, Go, TGo, Arc, Arc3, BMove,
3132 Cannot specify Arch parameter.
Move, and TMove statements. Correct
the program
LimZ parameter cannot be specified in
BGo, Go, TGo, Jump3, Arc, Arc3,
3133 Cannot specify LimZ parameter.
BMove, Move, and TMove statements.
Correct the program.
Sense parameter cannot be specified in
BGo, Go, TGo, Arc, Arc3, BMove,
3134 Cannot specify Sense parameter.
Move, and TMove statements. Correct
the program.
Invalid parameter is specified in Xqt, and
3135 Invalid parameter is specified.
Call statements. Correct the program.
Cannot specify the array variable The array variable subscript cannot be
3137
subscript. specified. Correct the program.
192 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Specify ByRef in the parameter list of
ByRef was not specified on Function
3138 function declaration that is called by Call
declaration.
statement.
The Xqt statement cannot be executed
Cannot execute the Xqt statement for a for a function needing a ByRef
3139
function that needs a ByRef parameter. parameter. Delete the ByRef
parameter.
The Redim statement cannot be executed
Cannot execute the Redim statement for a variable specifying ByRef
3140
for a ByRef variable. parameter. Delete the ByRef
parameter.
3141 OBJ file is corrupt. -
The compilation result exceeds the limit
OBJ file size is beyond the available
3142 value (max. 1 MB per file). Divide the
size after compiling.
program.
The available length of the identifier is
max. 32 characters for labels and
variable names, and 64 characters for
function names. Reduce the number of
Indent length is beyond the available
3143 characters so as not to exceed the
size.
available length. For details of the
available length, refer to EPSON RC+
User’s Guide “6.4 Function and
Variable Names (Naming restriction)”.
Correct the identifier ' ** ' or the function
3144 ' ** ' already used for a function name.
name.
' ** ' already used for a Global Correct the identifier ' ** ' or the Global
3145
Preserve variable. Preserve variable name.
' ** ' already used for a Global Correct the identifier ' ** ' or the Global
3146
variable. variable name.
' ** ' already used for a Module Correct the identifier ' ** ' or the Module
3147
variable. variable name.
Correct the identifier ' ** ' or the Local
3148 ' ** ' already used for a Local variable.
variable name.
Correct the identifier ' ** ' or the I/O
3149 ' ** ' already used for an I/O label.
label name.
' ** ' already used for a User Error Correct the identifier ' ** ' or the User
3150
label. Error label name.
Argument cannot be specified for the
3151 Cannot use a function parameter. function that is executed by the Trap
statement. Correct the program.
Limit value of the array elements
depends on the type of variables.
Specified elements of the array Refer to EPSON RC+7.0 User’s Guide
3152
variable are beyond the available size. “6.7.6 Array” and correct the number
of array elements so as not to exceed the
limit value.
Parameter type does not match in Call,
3153 Parameter type mismatch. Force_GetForces, and Xqt statements.
Correct the parameter type.
3154 ' ** ' is not an Input Bit label. Specify a valid input bit label.
3155 ' ** ' is not an Input Byte label. Specify a valid input byte label.
3156 ' ** ' is not an Input Word label. Specify a valid input word label.
3157 ' ** ' is not an Output Bit label. Specify a valid output bit label.
3158 ' ** ' is not an Output Byte label. Specify a valid output byte label.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 193

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

3159 ' ** ' is not an Output Word label. Specify a valid output word label.
3160 ' ** ' is not a Memory Bit label. Specify a valid memory I/O bit label.
3161 ' ** ' is not a Memory Byte label. Specify a valid memory I/O byte label.
3162 ' ** ' is not a Memory Word label. Specify a valid memory I/O word label.
The maximum number of the function
3163 Too many function arguments. parameter is 100. Reduce the number
of parameters.
The size of Boolean values cannot be
3164 Cannot compare with Boolean value.
compared. Correct the program.
Cannot use Boolean value in the Boolean value cannot be used in the
3165
expression. expression. Correct the program.
The size of Boolean value and the
Cannot compare between Boolean and
3166 expression cannot be compared.
expression.
Correct the program.
Cannot store Boolean value to a Boolean value cannot be used in the
3167
numeric variable. numeric variable. Correct the program.
Cannot store numeric value to a The numeric value cannot be used in
3168
Boolean variable. Boolean variable. Correct the program.
Define a new I/O label or specify the
3169 Undefined I/O label was specified.
defined I/O label.
String expression is specified for the
right side of the condition expression in
Invalid condition expression was
3170 Do or Loop statement. Correct the
specified.
condition expression so that the right
side of the expression is Boolean value.
Cannot compare between numeric The numeric value and string cannot be
3171
value and string. compared. Correct the program.
Some SPEL+ keywords cannot be used
Cannot use a keyword for a variable as the variable names. Correct the
3172
name. variable name not to overlap with the
keywords.
Correct the identifier ' ** ' or the line
3173 ' ** ' is already used for a line label.
label name.
The line labels with the same name
cannot be specified in the same function.
3174 Duplicate line number or label (**).
Delete the line label ' ** ', or define a
new line label and correct the program.
Define a new point label or specify the
3175 Undefined Point label was specified.
defined point label.
Define a new variable or specify the
3176 An undefined variable was specified.
defined variable.
Correct the identifier ' ** ' or the point
3177 ' ** ' already used for a Point label.
label name.
The result number cannot be specified
when a vision object that does not return
3178 Cannot use the result number.
multiple results is used in VSet and VGet
statements. Correct the program.
The limit value of the string length is
String literal is beyond the available
3179 max. 255 characters. Reduce the string
length.
length so as not to exceed the limit value.
Calibration property cannot be changed
Cannot change a calibration property
3180 in VSet statement. Correct the
value with the VSet command.
program.
Array variable should be used with ByVal cannot be specified for the array
3181
ByRef. variable. Specify the ByRef parameter.
3182 Subscription was not specified. Specify a subscription.
194 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

3183 Parameter cannot be omitted. Add a parameter.
SYNC parameter cannot be specified in
SYNC parameter cannot use with
3184 tracking commands. Delete the SYNC
tracking command.
parameter.
Queue data cannot be specified in BGo,
3185 Cannot use Queue data. BMove, TGo, and TMove statements.
Delete the queue data.
Combination of queue data and point
data cannot be specified for coordinate
Combination between Queue and
3186 specification of Arc, Arc3, Jump3, and
Point data does not match.
Jump3CP statements.
Use either queue data or the point data.
Correct the program so that the point flag
3187 Invalid Point flag value was specified.
value is within the range from 0 to 127.
Call command cannot be used in Call command cannot be used parallel
3188
parallel processing. processing. Correct the program.
Change of local variable cannot be
Local variables cannot be used with
3189 waited by Wait statement. Correct the
the Wait command.
program.
Change of array variable cannot be
Array variables cannot be used with
3190 waited by Wait statement. Correct the
the Wait command.
program.
Change of real variable cannot be waited
Real variables cannot be used with the
3191 by Wait statement. Correct the
Wait command.
program.
Change of string variable cannot be
String variables cannot be used with
3192 waited by Wait statement. Correct the
the Wait command.
program.
Vision object name cannot be omitted in
3193 Vision object name is missing. VTeach statement. Specify the object
name.
Boolean value cannot be used for the
Cannot use Boolean value for the
3194 timeout value of Wait statement.
timeout value.
Correct the program.
The number of Fend statements that
3196 Fend statement was not found. correspond to Function statements is not
enough. Add the Fend statements.
Numeric variable name cannot use '$'.
3197 Numeric variable name cannot use '$'.
Correct the variable name.
String variables must have a '$' suffix.
3198 String variables must have '$' suffix.
Add a '$' suffix to the variable name.
Invalid vision object is specified in
Vision Guide commands such as VSet
3199 Invalid object was specified.
and VGet. Specify the valid vision
object.
3200 Value is missing. Add a value.
3201 Expected ' , '. Add ' , '.
3202 Expected ' ( '. Add ' ( '.
3203 Expected ' ) '. Add ' ) '.
3204 Identifier is missing. Specify an identifier.
3205 Point is not specified. Specify a point.
3206 Event condition expression is missing. Add an event condition expression.
3207 Formula is missing. Add a formula.
3208 String formula is missing. Add a string formula.
3209 Point formula is missing. Add a point formula.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 195

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check if the specified line label exists in
3210 Line label was not specified.
the program. Add a valid line label.
3211 Variable was not specified. Specify a variable.
The number of Fend statements that
3212 Corresponding Fend cannot be found. correspond to Function statements is not
enough. Add the Fend statements.
3213 Expected ' : '. Add ' : '.
True/False was not specified in the
property of Vision Guide/GUI Builder or
3214 True/False was not specified. substitution of logical expression which
requires Boolean value setting.
Specify True or False.
On or Off must be specified for the
remote output logic setting of Motor,
3215 On/Off was not specified.
Brake, AutoLJM, SetSw, and Box
statements. Specify On or Off.
High or Low must be specified for the
3216 High/Low was not specified. power mode setting of Power statement.
Specify High or Low.
Input bit label is not specified in SetSW,
3217 Input bit label was not specified. CTReset statement, Sw, and Ctr
function. Specify a valid input bit label.
Input byte label is not specified in SetIn
3218 Input byte label was not specified. statement, In, and InBCD function.
Specify a valid input byte label.
Input word label is not specified in
SetInW statement, InReal, and InW
3219 Input word label was not specified.
function. Specify a valid input word
label.
Output bit label is not specified in On,
3220 Output bit label was not specified. Off statement, and Oport function.
Specify a valid output bit label.
Output byte label is not specified in Out,
3221 Output byte label was not specified. OpBCD statement, and Out function.
Specify a valid output byte label.
Output word label is not specified in
OutW, OutReal statement, OutW, and
3222 Output word label was not specified.
OutReal function. Specify a valid
output word label.
Memory bit label is not specified in
MemOn, MemOff statement, and
3223 Memory bit label was not specified.
MemSw function. Specify a valid
memory bit label.
Memory byte label is not specified in
3224 Memory byte label was not specified. MemOut statement and MemIn function.
Specify a valid memory byte label.
Memory word label is not specified in
MemOutW statement and MemInW
3225 Memory word label was not specified.
function. Specify a valid memory word
label.
User error label is not specified in Error
3226 User error label was not specified. statement. Specify a valid user error
label.
Function name is not specified in the
statement that requires function name
3227 Function name was not specified.
designation, such as Call and Xqt.
Specify a valid function name.
196 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Variable type is not specified for the
parameter definition of Function
3228 Variable type was not specified. statement and Preserve parameter
specification of Global statement.
Specify a correct variable type.
Invalid Trap statement parameter. Specify either GoTo, Call, or Xqt as a
3229
Use Goto, Call, or Xqt. parameter of Trap statement.
Specify either For, Do, or Function as a
3230 Expected For/Do/Function.
parameter of Exit statement.
Setting value for the elbow orientation is
3231 Above/Below was not specified. not specified in Elbow statement.
Specify either Above or Below.
Setting value for the hand orientation is
3232 Righty/Lefty was not specified. not specified in Hand statement.
Specify either Righty or Lefty.
Setting value for the wrist orientation is
3233 NoFlip/Flip was specified. not specified in Wrist statement.
Specify either NoFilip or Flip.
Port number that indicates the file or
communication port is not specified in
Read, ReadBin, Write, and WriteBin
3234 Port number was not specified. statements.
Refer to SPEL+ Language Reference
“Read Statement” and specify a proper
file number or port number.
String type variable is not specified in
the command that requires specification
3235 String type variable was not specified.
of string type variable as a parameter.
Specify a valid string type variable.
RS-232C port number is not specified in
OpenCom, CloseCom, and SetCom
RS-232C port number was not
3236 statements. Refer to SPEL+ Language
specified.
Reference “OpenCom Statement” and
specify a proper port number.
Network communication port number is
Network communication port number not specified in OpenNet, CloseNet,
3237
was not specified. SetNet, and WaitNet statement.
Specify an integer from 201 to 216.
Communication speed (baud rate) is not
specified in SetCom statement. Refer
Communication speed was not
3238 to SPEL+ Language Reference “SetCom
specified.
Statement” and specify a proper baud
rate.
Data bit length is not specified in
SetCom statement. Refer to SPEL+
3239 Data bit number was not specified. Language Reference “SetCom
Statement” and specify a proper data bit
length.
Stop bit length is not specified in
SetCom statement. Refer to SPEL+
3240 Stop bit number was not specified. Language Reference “SetCom
Statement” and specify a proper stop bit
length.
Parity is not specified in SetCom
statement. Refer to SPEL+ Language
3241 Parity was not specified.
Reference “SetCom Statement” and
specify a proper parity.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 197

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Terminator (end of send/receive line) is
not specified in SetCom and SetNet
3242 Terminator was not specified. statements. Refer to SPEL+ Language
Reference “SetCom Statement” and
specify a proper terminator.
Hardware flow is not specified in
SetCom statement. Refer to SPEL+
3243 Hardware flow was not specified. Language Reference “SetCom
Statement” and specify a proper flow
control.
Software flow is not specified in SetCom
statement. Refer to SPEL+ Language
3244 Software flow was not specified.
Reference “SetCom Statement” and
specify a proper flow control.
“NONE” is not specified for software
3245 None was not specified. flow control setting in SetNet statement.
Specify “NONE”.
Open or close parameter for the end of a
curve is not specified in Curve statement.
Parameter ' O ' or ' C ' was not
3246 Refer to SPEL+ Language Reference
specified.
“Curve Statement” and specify a proper
open/close parameter.
The number of coordinate axes
controlled during a curve motion is not
NumAxes parameter was not specified in Curve statement. Refer to
3247
specified. SPEL+ Language Reference “Curve
Statement” and specify a proper number
of the coordinate axes.
Specify 0 or 1, or an expression for
3248 J4Flag value (0-1) was not specified.
J4Flag value.
J6Flag value (0-127) was not Specify an integer from 0 to 127, or an
3249
specified. expression for J6Flag value.
Array variable is not specified in the
statement that requires specification of
3250 Array variable was not specified.
array variable. Specify a valid array
variable.
Array which stores a token must be a
String Array variable was not string array variable in ParseStr
3251
specified. statement and ParseStr function.
Specify a string array variable.
Device ID is not specified in DispDev
statement or Cls command. Refer to
3252 Device ID was not specified. SPEL+ Language Reference “DispDev
Statement” and specify a proper device
ID.
I/O type is not specified in
IOLabel$ function. Refer to SPEL+
3253 I/O type was not specified. Language Reference
“IOLabel$ Function” and specify a
proper I/O type.
I/O bit size (I/O port width) is not
specified in IODef, IOLabe function.
3254 I/O bit width was not specified. Refer to SPEL+ Language Reference
“IODef Function” and specify a proper
I/O bit size.

198 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Although the ByRef is specified in the
function declaration, no ByRef is
3255 ByRef was not specified.
specified for calling. Specify the ByRef
parameter.
Variable type is not specified in Global
3256 Variable type was not specified. statement. Specify a proper variable
type.
Condition expression in If, ElseIf, Do,
Condition expression does not and Loop statement must return a
3257
evaluate to Boolean value. Boolean value. Correct the condition
expression to return a Boolean value.
RS-232C port number is not specified in
ChkCom function. Refer to SPEL+
RS232C port number was not
3258 Language Reference “ChkCom
specified.
Function” and specify a proper port
number.
Network communication port number is
not specified in ChkNet function. Refer
Network communication port number
3259 to SPEL+ Language Reference “ChkNet
was not specified.
Function” and specify a proper port
number.
Language ID is not specified in
ErrMsg$ function. Refer to SPEL+
3260 Language ID was not specified. Language Reference
“ErrMsg$ Function” and specify a
proper language ID.
3261 Expected '.'. Add '.'.
Vision sequence name is not specified in
Vision Sequence Name was not Vision Guide commands such as VSet,
3262
specified. VGet, and VRun. Add a sequence
name.
Vision sequence name or calibration
Vision Sequence Name or Calibration name is not specified in VSet and VGet
3263
Name was not specified. statements. Add a sequence name or
calibration name.
Vision property name or result name is
Vision Property Name or Result Name not specified in VSet and VGet
3264
was not specified. statements. Add a property name or
result name.
Either of Vision property name, result
name, or object name is not specified in
Vision Property Name, Result Name
3265 VSet and VGet statements. Add either
or Object Name was not specified.
of a property name, result name, or
object name.
Vision calibration property name is not
Vision Calibration Property Name was
3266 specified in VSet and VGet statements.
not specified.
Add a property name.
Task type is not specified in Xqt
statement. Refer to SPEL+ Language
3267 Task type was not specified.
Reference “Xqt Statement” and specify a
proper task type.
Form name is not specified in GSet,
GGet, GShow, GShowDialog, and
3268 Form name was not specified.
GClose statements. Specify a form
name.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 199

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Property name or control name is not
Property Name or Control Name was
3269 specified in GSet and GGet statements.
not specified.
Specify a property name or control name.
Property name is not specified in GSet
3270 Property Name was not specified. and GGet statements. Specify a
property name.
BackColorMode property setting value is
not specified in GSet statement. Refer
3271 BackColorMode was not specified. to GUI Builder 7.0 manual
“BackColorMode Property” and specify
a proper setting value.
BorderStyle property setting value is not
specified in GSet statement. Refer to
3272 BorderStyle was not specified. GUI Builder 7.0 manual “BorderStyle
Property” and specify a proper setting
value.
DropDownStyle property setting value is
not specified in GSet statement. Refer
3273 DropDownStyle was not specified. to GUI Builder 7.0 manual
“DropDownStyle Property” and specify
a proper setting value.
EventTaskType property setting value is
not specified in GSet statement. Refer
3274 EventTaskType was not specified. to GUI Builder 7.0 manual
“EventTaskType Property” and specify a
proper setting value.
ImageAlign property setting value is not
specified in GSet statement. Refer to
3275 ImageAlign was not specified. GUI Builder 7.0 manual “ImageAlign
Property” and specify a proper setting
value.
IOType property setting value is not
specified in GSet statement. Refer to
3276 IOType was not specified. GUI Builder 7.0 manual “IOType
Property” and specify a proper setting
value.
FormBorderStyle property setting value
is not specified in GSet statement.
3277 FormBorderStyle was not specified. Refer to GUI Builder 7.0 manual
“FormBorderStyle Property” and specify
a proper setting value.
ScrollBars property setting value is not
specified in GSet statement. Refer to
3278 ScrollBars was not specified. GUI Builder 7.0 manual “ScrollBars
Property” and specify a proper setting
value.
SizeMode property setting value is not
specified in GSet statement. Refer to
3279 SizeMode was not specified. GUI Builder 7.0 manual “SizeMode
Property” and specify a proper setting
value.
StartPosition property setting value is not
specified in GSet statement. Refer to
3280 StartPosition was not specified. GUI Builder 7.0 manual “StartPosition
Property” and specify a proper setting
value.

200 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

TextAlign property setting value is not
specified in GSet statement.
This error occurs when the control type
cannot be identified because the control
3281 TextAlign was not specified.
is specified by a string variable. Refer
to GUI Builder 7.0 manual “TextAlign
Property” and specify a proper setting
value.
TextAlign property setting value is not
specified in GSet statement.
This error occurs when the control is a
3282 TextAlign was not specified.
text box. Refer to GUI Builder 7.0
manual “TextAlign Property” and specify
a proper setting value.
TextAlign property setting value is not
specified in GSet statement.
This error occurs when the control is
3283 TextAlign was not specified.
other than a text box. Refer to GUI
Builder 7.0 manual “TextAlign Property”
and specify a proper setting value.
WindowState property setting value is
not specified in GSet statement.
3284 WindowState was not specified. Refer to GUI Builder 7.0 manual
“WindowState Property” and specify a
proper setting value.
Specify 0 or 1, or an expression for
3285 J1FLAG was not specified.
J1Flag value.
Specify 0 or 1, or an expression for
3286 J2FLAG was not specified.
J2Flag value.
3287 Robot ID was not specified. Specify a robot number.
Robot number or All is not specified in
InsideBox and InsidePlane function.
3288 Robot ID/All was not specified.
Specify a robot number which performs
intrusion detection, or All.
Area number is not specified in
InsideBox and InsidePlane function.
3289 Area ID was not specified. Specify an approach check area number
which returns status by an integer from 1
to 15.
File number is not specified in the
command related to file management.
3290 File number was not specified.
Specify a file number by an integer from
30 to 63 or an expression.
Database type is not specified in
OpenDB statement. Refer to SPEL+
3292 Database type was not specified. Language Reference “OpenDB
Statement” and specify a proper database
type.
Type of the disk that is subject to file
manipulation is not specified in ChDisk
3293 Disk type was not specified. statement. Refer to SPEL+ Language
Reference “ChDisk Statement” and
specify a proper disk type.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 201

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Area ID that is subject to count the queue
data is not specified in Cnv_QueLen
3295 Conveyor area ID was not specified. function. Refer to SPEL+ Language
Reference “Cnv_QueLen Function” and
specify a proper area ID.
Data base number that is subject to
operation is not specified in OpenDB,
CloseDB, DeleteDB, UpdateDB, and
Database file number was not
3296 SelectDB function. Refer to SPEL+
specified.
Language Reference “OpenDB
Statement” and specify a proper database
number.
Calibration name is not specified in VCal
Vision calibration name was not
3297 statement. Specify a name of
specified.
calibration that is subject to calibrate.
Vision object type is not specified in
VCreateObject statement. Refer to
Vision object type ID was not
3298 Vision Guide 7.0 Properties & Results
specified.
Reference “VCreateObject Statement”
and specify a proper object type.
Shutdown mode value is not specified in
ShutDown statement and ShutDown
3299 Shutdown mode ID was not specified. function. Refer to SPEL+ Language
Reference “Shutdown Statement” and
specify a proper mode value.
Not all project files are compiled in the
Version of linked OBJ file does not
3301 same version.
match.
Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3302
compiled I/O label. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3303
compiled user error label. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3304
compiled compile option. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3305
compiled link option. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3306
compiled SPEL option. changed. Rebuild the project.
The same function name is used for more
3307 Duplicate function. than one file. Correct the program
(function name).
The same global preserve variable name
3308 Duplicate global preserve variable. is used for more than one file.
Correct the program (variable name).
The same global variable name is used
3309 Duplicate global variable. for more than one file.
Correct the program (variable name).
The same module variable name is used
3310 Duplicate module variable. for more than one file.
Correct the program (variable name).
3311 File cannot be found. -
3312 OBJ file is corrupt. -
The specified file name includes
3313 -
character(s) that cannot be used.

202 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The file is used for other application.
3314 Cannot open the file.
Quit the other application.
' ** ' is already used for a function Correct the identifier ' ** ' or the function
3315
name. name. Rebuild the project.
Correct the identifier ' ** ' or the global
' ** ' is already used for a global
3316 preserve variable name. Rebuild the
preserve variable name.
project.
' ** ' is already used for a global Correct the identifier ' ** ' or the global
3317
variable name. variable name. Rebuild the project.
' ** ' is already used for a module Correct the identifier ' ** ' or the module
3318
variable name. variable name. Rebuild the project.
Dimension of the array variable does Correct the dimension of the array and
3319
not match the declaration. rebuild the project.
Return value type of the function does Correct the return value type of the
3320
not match the declaration. function and rebuild the project.
' ** ' is already used with function Correct the identifier ' ** ' or the function
3321
name. name. Rebuild the project.
Correct the identifier ' ** ' or the global
' ** ' is already used with Global
3322 preserve variable name. Rebuild the
Preserve name.
project.
' ** ' is already used with Global Correct the identifier ' ** ' or the global
3323
name. variable name. Rebuild the project.
' ** 'is already used with Module Correct the identifier ' ** ' or the module
3324
name. variable name. Rebuild the project.
Correct the identifier ' ** ' or the local
3325 ' ** ' is already used with Local name.
variable name. Rebuild the project.
Check the number of parameters in the
The number of parameters does not
3326 function, correct the program, and then
match the declaration.
rebuild the project.
ByRef was not specified in Function
3327 -
declaration for parameter **.
ByRef was not specified for parameter
3328 -
**.
3329 Parameter ** type mismatch. -
Linked OBJ file does not match the
3330 Rebuild the project.
compiled Vision Project.
OBJ file size is beyond the available The OBJ file size exceeds the limit value
3331
size after linking. (8MB). Reduce the program.
Variable ' ** ’ is overloaded. Delete
3332 Variable '**' is redefined. unnecessary variable definition and
rebuild the project.
Linked OBJ file does not match the
3333 Rebuild the project.
compiled GUI Builder Project.
The number of variables which is using
The number of variables which is
Wait command is exceeding the
3334 using Wait command is beyond the
maximum allowed (64). Delete the
maximum allowed.
variables and rebuild the project.
Call cannot be used in parallel
Call cannot be used in parallel
3335 processing. Correct the program and
processing.
rebuild the project.
Correct the data type of the variable and
3336 Variable was redefined.
rebuild the project.
3351 Invalid object index was specified.
Force Guide Sequence Name was not
3352
specified.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 203

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Force Guide Property Name or Result
3353
Name was not specified.
Force Guide Property Name, Result
3354 Name or Object Name was not
specified.
Force Guide project file has
3355
unsupported file format.
Linked OBJ file does not match the
3356
compiled Force Guide Project.
Dialog ID is not specified in RunDialog
statement. Refer to SPEL+ Language
3400 Dialog ID was not specified.
Reference “RunDialog Statement” and
specify a dialog ID.
Name of the main function to execute is
not specified in StartMain statement.
3401 Main function name was not specified.
Specify a main function name (main to
main63).
Vision object name is not specified in
VLoadModel, VSaveModel,
3402 Vision object name was not specified.
VShowModel, VTeach, and VTrain
statements. Specify an object name.
Recover mode is not specified in
Recover statement or Recover function.
3403 Recover mode ID was not specified. Refer to SPEL+ Language Reference
“Recover Statement” and specify a
proper mode.
Trap number or trap event is not
specified in Trap statement. Refer to
3404 Trap condition was not specified. SPEL+ Language Reference “Trap
Statement” and specify a proper trap
number or event.
DialogResult property setting value is
not specified in GSet statement. Refer
3405 DialogResult was not specified. to GUI Builder 7.0 “DialogResult
Property” and specify a proper setting
value.
Display type is not specified in MsgBox
statement. Refer to SPEL+ Language
3406 MsgBox_Type was not specified.
Reference “MsgBox Statement” and
specify a proper setting value.
Byte type array variable is not specified
for send or receive data in
Byte type array variable was not
3407 FbusIO_SendMsg statement.
specified.
Send/receive data must be specified by
Byte type array.
The number of dimensions is not proper
Single array variable was not in the command where single array
3408
specified. variable is only available. Correct the
number of dimensions.
Pixel coordinate or robot coordinate is
not specified as a continuous point data
3409 Point list is not specified. in VxCalib statement. Specify a
continuous point data in the following
format: P (start : end)

204 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

CodeType property setting value is not
specified in VSet statement. Refer to
3410 Code type is not specified. Vision Guide 7.0 Properties & Results
Reference “CodeType Property” and
specify a proper setting value.
EdgeType property setting value is not
specified in VSet statement. Refer to
3411 Edge type is not specified. Vision Guide 7.0 Properties & Results
Reference “EdgeType Property” and
specify a proper setting value.
ErrorCorrection property setting value is
not specified in VSet statement. This
error is for the old RC+6.x. Setting of
the old version is possible by compiler
3412 ECC type is not specified.
version setting. Refer to Vision Guide
6.0 Properties & Results Reference
“ErrorCorrection Property” and specify
a proper setting value.
ImageColor property setting value is not
specified in VSet statement. Refer to
3413 ImageColor type is not specified. Vision Guide 7.0 Properties & Results
Reference “ImageColor Property” and
specify a proper setting value.
PointType property setting value is not
specified in VSet statement. Refer to
3414 Point type is not specified. Vision Guide 7.0 Properties & Results
Reference “PointType Property” and
specify a proper setting value.
ReferenceType property setting value is
not specified in VSet statement. Refer
3415 Reference type is not specified. to Vision Guide 7.0 Properties & Results
Reference “ReferenceType Property” and
specify a proper setting value.
Logic (edge type) of the trigger input is
not specified in SetLatch statement.
3416 Edge type is not specified.
Specify either 0 (negative logic) or 1
(positive logic).
R-I/O input port number where the
trigger input is connected is not specified
in SetLatch statement. Refer to SPEL+
3417 Port number is not specified.
Language Reference “SetLatch
Statement” and specify a proper port
number.
Axis parameter is not specified in
Force_GetForce function or
Force_SetTrigger statement.
3418 Axis is not specified.
Refer to SPEL+ Language Reference
“Force_GetForce Function” and specify
a proper setting value.
ComapreType parameter to set judgment
condition is not specified in
Force_SetTrigger statement.
3419 CompareType is not specified.
Refer to SPEL+ Language Reference
“Force_SetTrigger Statement” and
specify a proper parameter.
Integer or Short type array variable is
3420 -
only available.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 205

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Form name or system window ID which
is subject to operation is not specified in
GShow and GClose statements.
Form name or window ID is not
3421 Specify a valid form name or window
specified.
ID. For details of window ID, refer to
GUI Builder7.0 manual “GShow
Statement”.
System window ID which is subject to
operation is not specified in GShow and
3422 Window ID is not specified. GClose statements. Refer to GUI
Builder7.0 manual “GShow Statement”
and specify a proper window ID.
Performance mode is not specified in
PerformMode parameter of
Performance mode ID was not PerformMode statement, Go, BGo, TGo,
3423
specified. Jump statement. Refer to SPEL+
Language Reference “PerformMode”
and specify a proper performance mode.
Communication protocol setting is not
3424 Protocol type was not specified. specified in SetNet statement. Specify
UDP or TCP.
I/O type or I/O label is not specified in
IODef function. Specify the I/O label
or I/O type to check existence of
3425 I/O type or I/O label was not specified.
definition. For details of I/O types,
refer to SPEL+ Language Reference
“IODef Function”.
Singularity avoidance mode is not
specified in AvoidSingularity statement.
Singularity avoidance mode was not
3426 Refer to SPEL+ Language Reference
specified.
“AvoidSingularity Statement” and
specify a proper mode.
Setting number of acceleration is not
specified in AccelR function. Refer to
3427 Acceleration value was not specified. SPEL+ Language Reference “AccelR
Function” and specify a proper setting
value.
Setting number of acceleration is not
specified in Acccel function, AccelMax
function, AccelS function, and
3428 Acceleration value was not specified.
RealAccel function. Refer to SPEL+
Language Reference “Accel Function”
and specify a proper number.
Sorting order for work queue data is not
specified in WorkQue_Sort statement.
Sorting order for work queue data was
3429 Refer to SPEL+ Language Reference
not specified.
“WorkQue_Sort Statement” and specify a
proper sorting order.
Coordinate axes number was not
3430 -
specified.
Coordinate axes number was not
3431 -
specified.
Point or point expression is not Reboot the controller.
3432 specified. Initialize the controller firmware.
Review the program. Replace the controller.

206 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Array which stores a value of Enabled or
Boolean type array variable was not
LPF_Enabled property must be a boolean
3433 specified.
type array variable in FGet statement.
Specify a Boolean type array variable.
Specify a boolean array variable.
Real or Double type array variable was Real or Double type array variable is not
not specified. specified in FGet or MPGet statement.
3434
Specify a Real or Double type array Specify a real or double type array
variable. variable.
Array which stores a value of Polarities
Integral type array variable was not
property must be an Integral type array
3435 specified.
variable in FGet statement.
Specify an Integral type array variable.
Specify an integral type array variable.
Duration of FCKeep statement is not Duration of force control (timeout value)
3436 specified. is not specified in FCKeep statement.
Specify the duration. Specify a proper setting value.
Part kind of controller was not
3437 Specify the controller part type.
specified.
3438 Part kind of robot was not specified. Specify the robot part type.
Force property name or status name is
Force property name or status name is
not specified in FSet, FGet, MPSet, and
3450 not specified.
MPGet statements.
Add a property name or a status name.
Add a property name or a status name.
Either of Force property name, status
Force property name, status name, or name, or object name is not specified in
object name is not specified. FSet, FGet, MPSet, and MPGet
3451
Add either of a property name, status statements.
name, or object name. Add either of a property name, status
name, or object name.
Reboot the controller.
Force object name is not specified.
3452 Initialize the controller firmware.
Add a force object name.
Replace the controller.
Mass Property Object is not specified.
3453 Specify a valid Mass Property object.
Specify a Mass Property Object.
Force Coordinate System Object is not
specified. Specify a valid Force Coordinate System
3454
Specify a Force Coordinate System object.
Object.
Force Control Object is not specified.
3455 Specify a valid Force Control object.
Specify a Force Control Object.
Force Monitor Object is not specified.
3456 Specify a valid Force Monitor object.
Specify a Force Monitor Object.
Force Trigger Object is not specified.
3457 Specify a valid Force Trigger object.
Specify a Force Trigger Object.
Force Control Object or Force Force Control data or Force Coordinate
Coordinate System Object is not System data is not specified in FCSMove
3458 specified. statement. Specify a valid Force
Specify a Force Control Object or Control object or Force Coordinate
Force Coordinate System Object. System object.
3459 Force object is not specified. Specify a Force object.
3460 Force object label is not specified. Specify a Force object label.
3461 Force object or label is not specified. Specify a Force object or label.
Force Coordinate System Object or
label is not specified. Specify a valid Force Coordinate System
3462
Specify a Force Coordinate System object or label.
Object or label.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 207

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Force Control Object or label is not
specified. Specify a valid Force Control object or
3463
Specify a Force Control Object or label.
label.
Force Monitor Object or label is not
specified. Specify a valid Force Monitor object or
3464
Specify a Force Monitor Object or label.
label.
Force Trigger Object or label is not
specified. Specify a valid Force Trigger object or
3465
Specify a Force Trigger Object or label.
label.
Mass Property Object or label is not
specified. Specify a valid Mass Property object or
3466
Specify a Mass Property Object or label.
label.
Force Coordinate System Object or
label is not specified. Specify a valid Force Coordinate System
3467
Specify a Force Coordinate System object or label.
Object or label.
Force Control Object label is not
Specify a valid Force Control object
3468 specified.
label.
Specify a Force Control Object label.
Force Monitor Object label is not
Specify a valid Force Monitor object
3469 specified.
label.
Specify a Force Monitor Object label.
Force Trigger Object label is not
Specify a valid Force Trigger object
3470 specified.
label.
Specify a Force Trigger Object label.
Force Sensor Object label is not
3471 specified. Specify a valid Force Sensor object label.
Specify a Force Sensor Object label.
Mass Property Object label is not
Specify a valid Mass Property object
3472 specified.
label.
Specify a Mass Property Object label.
Mass Property Object label is not
Specify a valid Mass Property object
3473 specified.
label.
Specify a Mass Property Object label.
Fmag_Axes or Tmag_Axes property
setting value is not specified in FSet
Fmag_Axes or Tmag_Axes property
statement.
3474 setting value is not specified.
Refer to “Fmag_Axes property” or
Specify a proper setting value.
“Tmag_Axes property” and specify a
proper setting value.
TriggerMode property setting value is
TriggerMode property setting value is
not specified in FSet statement.
3475 not specified.
Refer to “TriggerMode property” and
Specify a proper setting value.
specify a proper setting value.
Operator property setting value is not
Operator property setting value is not
specified in FSet statement.
3476 specified.
Refer to “Operator property” and specify
Specify a proper setting value.
a proper setting value.
Orientation property setting value is not
Orientation property setting value is
specified in FSet statement.
3477 not specified.
Refer to “Orientation property” and
Specify a proper setting value.
specify a proper setting value.

208 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Fmag_Polarity, Fx_Polarity, Fy_Polarity,
Fz_Polarity, Tmag_Polarity,
Polarity property setting value is not
Tx_Polarity, Ty_Polarity, and
3478 specified.
Tz_Polarity property setting value is not
Specify a proper setting value.
specified in FSet statement.
Specify a proper setting value.
Another macro with the same name has
3500 Duplicate macro in #define statement.
been defined. Change the macro name.
Macro name is not specified in #define,
3501 Macro name was not specified. #ifdef, #ifndef, and #undef statements.
Add a macro name.
Include file name is not specified in
3502 Include file name cannot be found. #include statement. Add a valid include
file name.
The include file that is not registered in
Specified include file is not in the the project configuration is specified.
3503
project. Add the include file to the project
configuration.
Parameter of the macro function does Check the number of parameters and
3504
not match the declaration. correct the macro function.
The macro has a circular reference.
3505 Macro has a circular reference.
Correct the circular reference.
#define, #ifdef, #ifndef, #else, #endif,
#undef and variable declaration Check and correct the content of include
3506
statements are only valid in an include file.
file.
Limit of the nesting levels is 7 at the
3507 Over #ifdef or #ifndef nesting level. maximum. Correct the program so as
not to exceed the limit value.
The number of #endif statements that
correspond to #ifdef and #ifndef
Cannot find corresponding #ifdef or
3508 statements is too many. Delete #endif
#ifndef.
statements or add the #ifdef and #ifndef
statements.
The number of #endif statements that
correspond to #ifdef and #ifndef
3509 No #endif found for #ifdef or #ifndef.
statements is not enough. Add the #
endif statements.
3510 Cannot obtain the macro buffer. -
The macro declared as a macro function
Parameter for the macro function was
3550 is called without argument.
not specified.
Correct the program.
When the queue data is specified in
Tracking motion command cannot use Jump, Jump3, and Jump3CP statements,
3600
Sense parameter. Sense parameter cannot be specified.
Delete the Sense statement.
Parameter type is mismatch for the LJM parameter cannot be specified in
external function ' ** '. BGo, TGo, Arc, Arc3, BMove, Move,
3601
Check all statements where this and TMove statements. Delete the LJM
function is called in this file. parameter.
The specified motion command cannot InReal function cannot be used with
3602
use LJM parameter. Wait statement. Correct the program.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 209

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

PerformMode parameter cannot be
specified in Jump3, Jump3CP, Arc,
InReal function cannot be used with
3603 Arc3, BMove, Move, and TMove
Wait statement.
statements. Delete the PerformMode
parameter.
LJM parameter cannot be specified in
The specified motion command cannot BGo, TGo, Arc, Arc3, BMove, Move,
3605
use PerformMode parameter. and TMove statements. Delete the LJM
parameter.
3606 Cannot use the index. Index number cannot be specified except
List property in GSet and GGet
statements. Correct the program.
3607 Invalid object index was specified. Invalid index is specified in Objects
property of VSet and VGet statements.
The index must be larger than 1 and
smaller than the number of objects in the
specified sequence. Specify a proper
index.
3608 Invalid control index was specified. Invalid index is specified in Controls
property of GSet and GGet statements.
The index must be larger than 1 and
smaller than the number of controls in
the specified form. Specify a proper
index.
Force Guide data or CF parameter is
Modifier parameters are duplicated. duplicated in CVMove, FCKeep or other
3609
Review the program. statement for robot motion. Correct the
program.
Keywords such as a command or a
Cannot use a keyword for a label function are used for a label name.
3610
name. Change the label name which does not
use these keywords.
3800 Compile process aborted. -
3801 Link process aborted. -
Compile process aborted. Compile Correct the error in the program and
3802
errors reached the maximum count. rebuild the project.
Link process aborted. Link errors Correct the error in the program and
3803
reached the maximum count. rebuild the project.
Declaration of variables and functions,
program control statement, preprocessor
commands, and some commands cannot
Specified command cannot be
3804 be executed from the command window.
executed from the Command window.
For details, refer to SPEL+ Language
Reference “Appendix A ： SPEL+
Command Use Condition List”.
Brake, SysConfig, Where, Cnv_QueList,
and WorlQue_List statements can only
Specified command can only be
3805 be executed from the command window.
executed from the Command window.
Delete these statements from the
program.
LogIn function cannot be executed from
Specified function cannot be executed the command window even when used
3806
from the Command window. with Print statement. Use the function
in the program.

210 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

LJM and PerformMode parameters of
motion commands may not be specified
depending on the compiler version.
Specified syntax cannot be used in the
3808 LJM parameter: 6.0.x.x or later
current version.
PerformMode parameter: 7.0.4.x or later
Check the compiler version from the
project property.
Module variable cannot be accessed
Module variables cannot be used in the
3809 from the command window. Check the
command window.
input command.
Functions for condition expression of the
user defined remote output are limited.
Specified function cannot be used with
3812 Refer to EPSON RC+7.0 User’s Guide
a Remote User Output.
“11.8 User-defined Remote Output I/O”
and specify a valid function.
User defined label, function and variable
User defined label, function and
cannot be used with condition expression
3813 variable cannot be used with a Remote
of the user-defined remote output.
User Output.
Correct the condition expression.
A combination of multiple statements is
exceeding the available size of the
Object code size is beyond the
3814 intermediate code which can be executed
available size.
at once (1024 bytes). Divide the
statements.
Parameter cannot be specified for When executing FGet or MPGet
property or status in the command statement from a command window, a
3815 window. parameter cannot be specified to a
Delete the parameter and execute property or status.
again. Delete the parameter and execute again.
3850 File not found. -
Failed to read the point file which
3851 Point file not found. configures the project. Check the
project folder if the file exists.
Failed to read the I/O label file which
3852 I/O label file not found. configures the project. Check the
project folder if the file exists.
Failed to read the user error label file
3853 User error label file not found. which configures the project. Check
the project folder if the file exists.
Force file does not exist. Failed to read the force file which
3854 Check the project folder if the file configures the project. Check the project
exists. folder if the file exists.
3860 I/O label file not supported format. Regenerate the I/O label file.
User error label file has unsupported
3861 Regenerate the user error file.
file format.
3862 Point file has unsupported file format. Regenerate the point file.
Vision project file has unsupported file
3863 Regenerate the vision sequence.
format.
GUI Builder project file has
3864 Regenerate the GUI Builder form.
unsupported file format.
3865 OBJ file not supported format. Rebuild the project.
Force file has unsupported file format.
3866 Regenerate the force file.
Re-create the force file.
Mass Property object cannot be specified
Cannot specify Mass Property Object. in FSet, FGet, FDel, and FList
3870
Review the program. statements, FDef, and FLabel$ functions.
Correct the program.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 211

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Force coordinate system object cannot be
specified in Go, BGo, TGo, Jump,
Cannot specify Force Coordinate Jump3, Mode, BMove, TMove, Arc,
3871 System Object. Arc3 statement, MPSet, MPGet, MPDel,
Review the program. MPList statement, and MPDef,
MPLabel$ fuinction.
Correct the program.
Force control object cannot be specified
in Go, BGo, TGo, Jump, Jump3
Cannot specify Force Control Object. statement, and MPSet, MPGet MPDel,
3872
Review the program. MPList statement, and MPDef,
MPLabel$ function.
Correct the program.
Force monitor object cannot be specified
in MPSet, MPGet, MPDel, MPList
Cannot specify Force Monitor Object.
3873 statement, and MPDef,
Review the program.
MPLable$ function. Correct the
program.
Force trigger object cannot be specified
in MPSet, MPGet, MPDel, MPList
Cannot specify Force Trigger Object.
3874 statement, and MPDef,
Review the program.
MPLable$ function. Correct the
program.
Force Sensor object cannot be specified
in FDel, FList statement, FDef,
Cannot specify Force Sensor object. FLabel$ function, MPSet, MPGet,
3875
Review the program. MPDel, MPList statement, and MPDef,
MPLabel$ function.
Correct the program.
Robot object cannot be specified in
FDel, FList statement, FDef,
Cannot specify Robot object. FLabel$ function, MPSet, MPGet,
3876
Review the program. MPDel, MPList statement, and MPDef,
MPLabel$ function.
Correct the program.
Force control object and Force
Cannot specify Force Control Object
coordinate system object cannot be
and Force Coordinate System Object
3877 specified at the same time in FCSMove
at the same time.
statement.
Review the program.
Correct the program.
CF parameter cannot be specified in Go,
Cannot specify CF parameter.
3878 BGo, TGo, Jump, Jump3.
Delete the CF parameter.
Delete the CF parameter.
Mass property object label cannot be
Cannot specify Mass Property Object
specified in MPDel, and MPList
3879 label.
statements.
Review the program.
Correct the program.
Force coordinate system object label
Cannot specify Force Coordinate
cannot be specified in FDel and FList
3880 System Object label.
statements.
Review the program.
Correct the program.
Cannot specify Force Control Object Force control object label cannot be
3881 label. specified in FDel and FList statements.
Review the program. Correct the program.
Cannot specify Force Monitor Object Force monitor object label cannot be
3882 label. specified in FDel and FList statements.
Review the program. Correct the program.

212 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot specify Force Trigger Object Force trigger object label cannot be
3883 label. specified in FDel and FList statements.
Review the program. Correct the program.
Cannot specify Force Sensor Object Reboot the controller.
3884 label. Initialize the controller firmware.
Review the program. Replace the controller.
Cannot specify Mass Property Object Mass property object number cannot be
3885 number. specified in MPNumber function.
Review the program. Correct the program.
Force coordinate system object number
Cannot specify Force Coordinate
cannot be specified in FNumber
3886 System Object number.
function.
Review the program.
Correct the program.
Cannot specify Force Control Object Force control object number cannot be
3887 number. specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Monitor Object Force monitor object number cannot be
3888 number. specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Trigger Object Force trigger obejct number cannot be
3889 number. specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Sensor Object
3890 number. -
Review the program.
The data type of the first and the second
Type of the specified two objects does
parameter does not match in FDel, FList,
3891 not match.
MPDel, MPList statements.
Specify the same type of the objects.
Correct the program.
Cannot obtain the internal
3900 -
communication buffer.
3901 Buffer size is not enough. -
3910 Undefined command was specified. -
Cannot enter the file name in the file
3911 -
name buffer.
3912 Cannot obtain the internal buffer. -
3913 Cannot set priority. Reboot the controller.
3914 Invalid ICode. Rebuild the project.
3915 Invalid ICode. Rebuild the project.
3916 Invalid ICode. Rebuild the project.
3917 Invalid ICode. Rebuild the project.
3918 Invalid ICode. Rebuild the project.
3919 Invalid ICode. Rebuild the project.
3920 Invalid ICode. Rebuild the project.
3921 Invalid ICode. Rebuild the project.
3945 Feeder Name was not specified.
3946 Object ID was not specified.
3947 Property ID was not specified.
3948 Property ID was not specified.
Neither Robot, Object nor
3960
ResetCollision were specified.
Neither Hand nor Property were
3961
specified.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 213

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

3962 Invalid Property was specified.
Neither Robot nor Object were
3963
specified.
3964 Invalid Object was specified.

214 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Arm reached the limit of motion Check the point to move, current point,
4001
range. and Range setting.
The parameter
Specified value is out of allowable causing the
4002 Review the setting parameters. error
range.

Motion device driver failure. Reboot the controller.

4003 Communication error within the Initialize the controller firmware.
motion control module. Replace the controller.
Motion device driver failure. Reboot the controller.
4004 Event waiting error within the motion Initialize the controller firmware.
control module. Replace the controller.
Current point position is above the Lower the Z axis. Increase the specified
4005
specified LimZ value. LimZ value.
Lower the Z coordinate position of the
Target point position is above the
4006 target point. Increase the specified
specified LimZ value.
LimZ value.
Coordinates conversion error. The
end/mid point is out of the motion Check whether the coordinate out of the
4007
area. Jogging to the outside of the motion range is not specified.
motion area.
Current point position or specified
4008 Change the specified LimZ value.
LimZ value is out of motion range.
Motion device driver failure. Reboot the controller.
4009 Timeout error within motion control Initialize the controller firmware.
module. Replace the controller.
Specified Local coordinate was not Local number
4010 Define the Local coordinate system.
defined.
Arm reached the limit of XY motion Check the area limited by the XYLim
4011
range specified by XYLim statement. statement.
Upper limit value of Box is smaller
Set the upper limit value to be larger than
4012 than the lower limit value. Change
the lower limit value.
the upper and lower limit values.
Calculation of the timing of Arch motion
Motion control module internal failed. Perform either of the following:
4013
calculation error. - Check and modify Arch parameter
- Disable Arch
Execute MCal. Make sure the MCOdr
4014 MCAL was not completed. is set for the joint connected to the PG
board.
Due to robot mechanistic limitation,
SFree statement was attempted for setting some joint(s) to servo free status
4016
prohibited joint(s). is prohibited. Check the robot
specifications.
Communication error within the Reboot the controller.
4018 motion control module. Check sum Initialize the controller firmware.
error. Replace the controller.
Point positions used to define the Set the distance between points more
4021
Local are too close. than 1μm.
Point coordinate data used to define Match the coordinate data for the points
4022
the Local is invalid. to be specified.
Cannot execute when the motor is in Turn the motor power ON and then
4023
the off state. execute.
Check whether the robot does not
Cannot complete the arm positioning generate vibration or all parts and screws
4024
using the current Fine specification. are secured firmly. Increase the Fine
setting value.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 215

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot execute a motion command Clear the emergency stop condition and
4025
during emergency stop condition. execute the motion command.
Communication error within the Reboot the controller.
4026 motion control module. Servo I/F Initialize the controller firmware.
failure. Replace the controller.
Communication error within the Reboot the controller.
4028 motion control module. Device Initialize the controller firmware.
driver status failure. Replace the controller.
Buffer for the average torque
calculation has overflowed. Shorten the time interval from Atclr to
4030
Shorten the time interval from Atclr to Atrq less than about two minutes.
Atrq.
Cannot execute a motion command Turn the motor power ON and then
4031
when the motor is in the off state. execute the motion command.
Cannot execute a motion command
Set all joints to the SLock state and
4032 when one or more joints are in SFree
execute the motion command.
state.
The specified command is not
The specified command is not permitted
4033 supported for Pulse Generator Board
for the joints with PG board.
joints.
Specified command is not supported Remove the unsupported command from
4034
for this robot model. the program.
Only the tool orientation was Set a move distance between points.
4035 attempted to be changed by the CP Use the ROT modifier, SpeedR
statement. statement, and AccelR statement.
Decrease the setting values for the
Rotation speed of tool orientation by SpeedS and AccelS statements. Use the
4036
the CP statement is too fast. ROT modifier, SpeedR statement, and
AccelR statement.
The point attribute of the current and
4037 target point positions differ for Match the point attribute.
executing a CP control command.
Two point positions are too close to Set the distance between points more
4038
execute the Arc statement. than 1μm.
Three point positions specified by the
4039 Use the Move statement.
Arc statement are on a straight line.
Motion command was attempted to
4041 the prohibited area at the backside of Check the robot motion range.
the robot.
Motion device driver failure. Reboot the controller.
4042 Cannot detect the circular format Initialize the controller firmware.
interruption. Replace the controller.
Specified command is not supported Remove the unsupported command from
4043
for this robot model or this joint type. the program.
Curve failure. Specified curve form Create a Curve file again with the Curve
4044
is not supported. statement.
Specify the Curve mode properly.
Curve failure. Specified mode is not
4045 Create a Curve file again with the Curve
supported.
statement.
The number of the available coordinate
Curve failure. Specified coordinate
4046 axes is 2, 3, 4, and 6. Create a Curve
number is out of the allowable range.
file again with the Curve statement.
Curve failure. Point data was not Create a Curve file again with the Curve
4047
specified. statement.

216 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Curve failure. Parallel process was Create a Curve file again with the Curve
4048
specified before the point designation. statement.
Curve failure. Number of parallel
Create a Curve file again with the Curve
4049 processes is out of the allowable
statement.
range.
The number of available point numbers
Curve failure. Number of points is
4050 differs according to the curve form.
out of the allowable range.
Check the number of points again.
Curve failure. Local attribute and
Match the local and point flag for all the
4051 the point attribute of all specified
specified points.
points do not match.
Curve failure. Not enough memory
4052 Reboot the controller.
to format the curve file.
Review the point data. Check whether
Curve failure. Failed to format the
4053 adjacent two points do not overlap on the
curve file.
specified point line.
The Curve file is broken. Create a
4054 Curve failure. Curve file error Curve file again with the Curve
statement.
Curve failure. No distance for curve
4055 Review the point data.
file movement.
Set the distance between two points
Curve failure. Point positions for the
4056 adjacent to the specified point more than
Curve statement are too close.
0.001 mm.
Prohibited command while tracking Remove the prohibited command from
4058
was executed. the program.
Executed encoder reset command
4059 Turn the motor power OFF.
while the motor is in the on state.
Executed an invalid command while
4060 Turn the motor power OFF.
the motor is in the on state.
You attempted to clear the currently
4061 Specified parameter is in use. specified Arm and Tool.
Select other Arm and Tool and execute.
You attempted to rotate the joint #J6
Orientation variation is over 360
4062 more than 360 degrees with a CP motion
degrees.
command.
On the specified point line by the Curve
Orientation variation of adjacent point statement, set the orientation variation of
4063
is over 90 degrees. U, V, and W coordinate values between
two adjacent points to under 90 degrees.
On the specified point line, a curve
cannot be created by automatic
Cannot execute the orientation orientation correction.
4064
correction automatically. Change the specified point line so that
the joint #J6 orientation variation
decreases.
You attempted to rotate the joint #J6
more than 360 degrees with a CP motion
Attempt to revolve J6 one rotation command. You attempted to revolve
4065 with the same orientation in CP the joint 6 one rotation with the same as
statement. motion start orientation.
Change the target point so that the joint
#J6 revolves less than one rotation.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 217

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Motion command was attempted in
You attempted to move the joints to the
4066 the prohibited area depended on joint
robot's interference limited area.
combination.
ROT modifier parameter was
Delete the ROT from the CP motion
4068 specified for the CP motion command
command.
without orientation rotation.
Specified ECP without selecting ECP
4069 Specify a valid ECP.
in CP statement.
Specified ECP number does not
4070 match the ECP number used in curve Specify a valid ECP.
file creation.
Attempted motion command during
4071 Release the electromagnetic brake
electromagnetic brake lock condition.
Reboot the controller.
Initialization failure. Hardware
4072 Initialize the controller firmware.
monitor was not initialized.
Replace the controller.
Any of U, V, or W changes 90 degrees or
Orientation variation of adjacent point
4073 more. Change the point or the
is over 90 degrees.
orientation.
Motor type does not match the current Check whether the specified robot model
4074
robot setting. is connected.
4075 Option is not active. Enable the option.
Point positions used to define the Set the distance between points more
4076
Plane are too close. than 1 μm.
Point coordinate data used to define Match the coordinate data for the points
4077
the Plane is invalid. to be specified.
Only the additional ST axis was
Use PTP motion commands in order to
4078 attempted to be changed by the CP
move the additional axis only.
statement.
Speed of additional ST axis by the CP Reduce the set values of SpeedS and
4079
statement is too fast. AccelS.
Cannot execute when the Enable Turn the Enable Switch ON and then
4080
Switch is OFF. execute.
Check the PG board.
Check the connection with the motor
4081 Error was detected during operation. driver.
Replace the PG board.
Replace the controller.
Check the PG board.
Pulse Generator Board error was Check the connection with the motor
4082
detected during operation. driver.
Replace the PG board.
Set PG parameter so that MCAL can
4083 MCAL did not complete in time.
complete within 120 seconds.
Limit Sensor error was detected
4084 Check the limit sensor.
during operation.
Reboot the controller.
4085 Failed to change to specified location. Initialize the controller firmware.
Replace the controller.
Cannot execute because it is not dry
4086 Change to the dry run mode and execute.
run mode.
Check the amount of free space of the
computer.
4087 Failed to format the playback file. Reboot the computer.
Reinstall the RC+.
Replace the computer.

218 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The time interval from HealthRBStart Set the time interval from HealthRBStart
4089 to HealthRBStop is too long or too to HealthRBStop to be within 1 to 3600 - -
short. seconds.
Execute HealthRBStop after executing
HealthRBStart.
HealthRBStop is executed without This error also occurs when
4090 - -
HealthRBStart. HealthRBStop is executed again without
executing HealthRBStart after
HealthRBStop.
Specified analog I/O channel does not Check the channel number. Mount the
4091
exist. analog I/O option board.
Specified analog output channel is Execute after stopping the speed output
4092
used for a speed data output. of the specified channel.
If the motion is paused during the
singularity-avoiding, the motion
4093 Abort the motion command.
cannot resume. Abort the motion
command.
Either J1 or J2 axis is out of the motion
range. Follow the procedures below
and move the robot within the motion
range.
The current position is out of the ・Use Pulse command and JTran to move
4094
motion range. the robot within the motion range.
・Move the robot within the motion range
manually.
(This error only occurs in RS series and
N series.)
Check if a 5000 number error is
Servo error was detected during occurring in the system history. If the
4099
operation. error is occurring, take measures for a
5000 number error.
Communication error in motion Reboot the controller.
4100 control module. Cannot calculate Initialize the controller firmware.
the current point or pulse. Replace the controller.
Communication error in the motion Reboot the controller.
4101 control module. Cannot calculate Initialize the controller firmware.
the current point or pulse. Replace the controller.
Reboot the controller.
Initialization failure. Motion control
4103 Initialize the controller firmware.
module initialization error.
Replace the controller.
Positioning timeout of the joint Cannot receive the positioning
4104 connected to the Pulse Generator completion signal (DEND) from the
Board. servo motor connected to PG board.
Initialization failure.
4108 Chceck the wiring of the motor unit.
Motor unit connection error.
The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Redundant input signal failure of the
4150 Check whether no disconnection, earth
emergency stop.
fault, or short-circuit of the emergency
stop input signal exits. Then reboot the
controller.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 219

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Redundant input signal failure of the
4151 Check whether no disconnection, earth
safeguard.
fault, or short-circuit of the emergency
stop input signal exits. Then reboot the
controller.
A relay welding error was detected due to
Relay welding error of the main power system over current.
4152
circuit. Replace the controller.
Replace the robot.
The input status of the redundant enable
signal differs continuously for more than
Redundant input signal failure of the two seconds.
4153
enable switch. Check the TP connector connection.
Replace the TP.
Replace the controller.
Robot’s Duty is too high. Lengthen the
Temperature of regeneration resistor
waiting time or reduce the Accel value.
4154 was higher than the specified
If the error occurs although Duty was
temperature.
lowered, replace the DPB.
Robot initialization failure. Specified
4180 Configure the manipulator.
robot was is not found
Robot initialization failure. Specified Specified manipulator cannot be
4181
robot was in use by another task. configured since it is already configured.
Robot initialization failure. Robot
4182 Shorten the manipulator name.
name is too long.
Robot initialization failure. Robot
4183 Reconfigure the manipulator.
data version error.
Robot initialization failure. Reboot the controller.
4187 Communication error with the Initialize the controller firmware.
module: VSRCMNPK. Replace the controller.
Reboot the controller.
Robot initialization failure. Joint
4188 Initialize the controller firmware.
angle interference matrix is invalid.
Replace the controller.
Robot initialization failure. Reboot the controller.
4189 Communication error with the Initialize the controller firmware.
module: VSRCMC. Replace the controller.
Robot initialization failure. Reboot the controller.
4191 Physical-logical pulse transformation Initialize the controller firmware.
matrix is invalid. Replace the controller.
Robot initialization failure. Reboot the controller.
4192 Communication error with the servo Initialize the controller firmware.
module. Replace the controller.
RAS circuit detected a servo system
malfunction. Reboot the controller. Reboot the controller, take the measure
4210
Check for noise. against noise, or replace the DMB.
Replace the controller.
Servo CPU internal RAM failure.
Reboot the controller, take the measure
4211 Reboot the controller. Check for
against noise, or replace the DMB.
noise. Replace the DMB.
RAM for the main and servo CPU
communication failure. Reboot the Reboot the controller, take the measure
4212
controller. Check for noise. against noise, or replace the DMB.
Replace the DMB.

220 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Servo CPU internal RAM failure. Reboot the controller, take the measure
4213 Reboot the controller. Check for against noise, or replace the DMB. For
noise. Replace the DMB. T series, it is not DMB but CPU board.
Initialization communication of main
Reboot the controller, take the measure
CPU and servo CPU failure.
4214 against noise, or replace the DMB. For
Reboot the Controller. Check for
T series, it is not DMB but CPU board.
noise. Replace DMB.
Initialization communication of the
main and servo CPU failure. Reboot the controller, take the measure
4215
Reboot the controller. Check for against noise, or replace the DMB.
noise. Replace the DMB.
Communication of the main and servo Reboot the controller, take the measure
4216 CPU failure. Reboot the controller. against noise, or replace the DMB. For
Check for noise. Replace the DMB. T series, it is not DMB but CPU board.
Communication of the main and servo Reboot the controller, take the measure
4217 CPU failure. Reboot the controller. against noise, or replace the DMB. For
Check for noise. Replace the DMB. T series, it is not DMB but CPU board.
Reboot the controller, take the measure
4218 Servo long time command overrun.
against noise, or replace the DMB.
Servo long time command check sum Reboot the controller, take the measure
4219
error. against noise, or replace the DMB.
System watchdog timer detected a Reboot the controller, take the measure
4220 failure. Reboot the controller. against noise, or replace the DMB. For
Check for noise. Replace the DMB. T series, it is not DMB but CPU board.
Reboot the controller, take the measure
4221 Drive unit check failure.
against noise, or replace the DMB.
RAM failure of the servo CPU.
Reboot the controller, take the measure
4222 Reboot the controller. Check for
against noise, or replace the DMB.
noise. Replace the DMB.
Failure of duplicate circuit of the
Check the wiring of the emergency stop
4223 emergency stop or the safeguard.
or the safeguard.
Check the wiring.
Low voltage of the main circuit power
supply is detected. Check the power Check the power supply voltage, or
4224
supply voltage. Reboot the reboot the controller.
controller.
Control relay contact of the main
4225 circuit power supply is welded. Replace the DPB.
Replace the DPB.
Detect the recognition mismatch of Reboot the controller, take the measure
4226
the sub CPU and main CPU. against noise, or replace the CPU board.
Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness, backlash,
Temperature of regeneration resistor non-smooth motion, loose belt tension,
4227 was higher than the specified brake)
temperature. Check the interference with the
peripheral equipment. (Collision, contact)
Check the model setting.
Check the power cable connection.
4228 Over voltage of the sub CPU. Replace the DPB board.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 221

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

A data checksum error was detected in
the controller.
Check the short-circuit and improper
Servo real time status failure.
4230 connection of the peripheral equipment
Check sum error.
wiring. (Emergency, D-I/O, and
Expansion I/O connectors)
Replace the controller.
A free running counter error was detected
in the controller.
Check the short-circuit and improper
Servo real time status failure. Free
4232 connection of the peripheral equipment
running counter error with the servo.
wiring. (Emergency, D-I/O, and
Expansion I/O connectors)
Replace the controller.
A communication error was detected in
the controller.
Servo real time status failure. Check the short-circuit and improper
4233 Communication error with the servo connection of the peripheral equipment
CPU. wiring. (Emergency, D-I/O, and
Expansion I/O connectors)
Replace the controller.
A interruption error was detected in the
controller.
Irregular motion control interruption Check the short-circuit and improper
4240 was detected. connection of the peripheral equipment
Interruption duplicate. wiring. (Emergency, D-I/O, and
Expansion I/O connectors)
Replace the controller.
The robot over speed was detected during
low 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.
Over speed during low power mode
4241 (Collision, contact)
was detected.
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)
You attempted to operate the robot with
the acceleration reference exceeding the
Improper acceleration reference was
4242 specified value.
generated.
For a CP motion, decrease the AccelS
value.

222 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

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.
Improper speed reference was
4243 (Collision, contact)
generated in high power mode.
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)
Arm reached the limit of motion range Check whether a CP motion trajectory is
4250
during the operation. within the motion range.
Arm reached the limit of XY motion
4251 range specified by XYLim during the Check the XYLim setting.
operation.
Coordinate conversion error occurred Check whether a CP motion trajectory is
4252
during the operation. within the motion range.
Because SpeedS is too big, the robot
4255 Reduce the SpeedS value.
cannot pass elbow specific posture
When a robot passed elbow specific
4256 posture, Stop or Pause were carried Do not execute Stop or Pause.
out
The robot cannot pass the elbow
The robot cannot pass Singularity singularity area.
4257
Area of Elbow To pass the elbow singularity area, use
SING_AVOID of “AvoidSingularity”.
The Arm reached the limit of motion Place the conveyor inside the motion
4261 range. Meanwhile, allow the tracking
range in conveyor tracking.
range for the deceleration when
The Arm reached the limit of XY
4262 switching from tracking motion to
motion range in conveyor tracking.
non-tracking.
If error occurs during the shift from
The Arm reached the limit of pulse tracking motion, it may be prevented by
4263
motion range in conveyor tracking. increasing the accel speed to complete
the tracking motion.
You attempted to exceed the J4Flag
Attempt to exceed the J4Flag attribute attribute during motion without the
4267
without indication. J4Flag indication.
Change the J4Flag for the target point.
You attempted to exceed the J6Flag
Attempt to exceed the J6Flag attribute attribute during motion without the
4268
without indication. J6Flag indication.
Change the J6Flag for the target point.
You attempted to exceed the particular
wrist orientation attribute during motion
Attempt to exceed the particular wrist without the Wrist indication.
4269 orientation attribute without Change the Wrist attribute for the target
indication. point.
Change the target point to avoid a
particular wrist orientation.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 223

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

You attempted to exceed the particular
hand orientation attribute during motion
Attempt to exceed the particular arm without the Hand indication.
4270 orientation attribute without Change the Hand attribute for the target
indication. point.
Change the target point to avoid a
particular hand orientation.
You attempted to exceed the particular
elbow orientation attribute during motion
Attempt to exceed the particular without the Elbow indication.
4271 elbow orientation attribute without Change the Elbow attribute for the target
indication. point.
Change the target point to avoid a
particular elbow orientation.
For a CP motion command, the arm form
at the target point is different from the
4272 Specified point flag is invalid.
point flag specified with the target point.
Change the point flag for the target point.

J6Flag switched during the lift motion Adjust the Tool orientation so that J6Flag
4273
in conveyor tracking. will not switch.
For a CP motion command, the
manipulator reached to the target point
Specified J6Flag is not reached.
4274 with J6Flag which differs from the one
Change J6Flag for target point.
specified for the target point.
Change J6Flag for the target point.
For a CP motion command, the
manipulator reached to the target point
Specified J4Flag is not reached.
4275 with J4Flag which differs from the one
Change J4Flag for target point.
specified for the target point.
Change J4Flag for the target point.
For a CP motion command, the
manipulator reached to the target point
Specified ArmFlag is not reached.
4276 with ArmFlag which differs from the one
Change ArmFlag for target point.
specified for the target point.
Change ArmFlag for the target point.
For a CP motion command, the
manipulator reached to the target point
Specified Elbow Flag is not reached.
4277 with ElbowFlag which differs from the
Change Elbow Flag for target point.
one specified for the target point.
Change ElbowFlag for the target point.
For a CP motion command, the
manipulator reached to the target point
Specified WristFlag is not reached.
4278 with WristFlag which differs from the
Change WristFlag for target point
one specified for the target point.
Change WristFlag for the target point.
Data sending failure in motion Check the connection of the cable for
4291
network. Drive Unit.
Data receiving failure in motion Check the connection of the cable for
4292
network. Drive Unit.
Check connection of the Force Sensor I/F
Data sending failure of Force Sensor board and Force Sensor.
I/F board. Reboot the controller.
4297
Check connection of the Force Sensor Please inquire with us if a similar error
I/F board and Force Sensor. occurs even after rebooting the
controller.

224 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check connection of the Force Sensor I/F
Data receiving failure of Force Sensor board and Force Sensor.
I/F board. Reboot the controller.
4298
Check connection of the Force Sensor Please inquire with us if a similar error
I/F board and Force Sensor. occurs even after rebooting the
controller.
The Pulse Generating Board detected
4301 Reset and then execute the next motion.
a limit signal.
The Pulse Generating Board detected Release the alarm of the pulse motor
4302
an alarm signal. driver.
The specified conveyor number is
4401 Review the conveyor number.
invalid.
The number of registration reached the
4402 The specified conveyor queue is full. upper limit (1000 pcs.) Delete the
queue.
Continue operation cannot be done in Tracking motion cannot be continued
4403
tracking motion. after aborted/paused?
The specified conveyor queue data Review the queue number. Or, check
4404
does not exist. whether the queue is registered.
Rebuild the project.
The conveyor is not correctly
4405 Delete the conveyor and then reestablish
initialized.
the setting.
The queue outside of the range cannot be
tracked. If the specified queue is above
the upstream limit, change the program
The specified queue data is outside so that tracking does not start until the
4406
the set area. queue enters the area below the upper
limit. If the specified queue is below
the downstream limit, change the
program to delete the queue data.
4407 The encoder is not correctly assigned. Set the encoder.
The parameter of the conveyor
4409 Review the parameter.
instruction is invalid.
Rebuild the project.
A conveyor coordinates conversion
4410 Delete the conveyor and then reestablish
error occurred.
the setting.
Reboot the controller.
Communication error within the
4411 Initialize the controller firmware.
Conveyor Modules.
Replace the controller.
Reboot the controller.
4413 Conveyor tracking starting error. Initialize the controller firmware.
Replace the controller.
Conveyor tracking cannot start after Start the conveyor tracking using
4414
motion with CP ON. CP OFF.
The diagonal downstream limit is above
the upstream limit, or the diagonal
The setting of Diagonal Upstream
upstream/downstream limit is horizontal
4415 Limit or Diagonal Downstream Limit
to the conveyor direction. Review the
is not appropriate.
setting of diagonal upstream/downstream
limit.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 225

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check the short-circuit and
improper connection of the
peripheral equipment wiring.
(Emergency and I/O connectors)
Servo control gate array failure. Replace the DMB.
5000
Check the DMB. Replace the additional axis unit.
For T series, reboot the controller,
take the measure against noise, and
replace the CPU board and motor
unit.
Check the M/C cable signal.
Check the robot signal wiring.
(Missing pin, disconnection,
short-circuit)
Replace the motor.
Replace the DMB.
Disconnection of the parallel encoder Check the connector connection in
signal. Check the signal cable the controller. (Loosening,
5001
connection or the robot internal connecting to the serial encoder
wiring. terminal on the DMB)
Check the model setting.
Check the peripheral equipment
wiring. (Emergency and I/O)
For T series, reboot the controller,
take the measure against noise, and
replace the motor unit.
Check whether the motor driver is
mounted.
Check the model setting and
Motor driver is not installed. Install
hardware setting.
5002 the motor driver. Check the DMB or
Replace the motor driver.
the motor driver.
Replace the DMB.
For T series, check the wiring of
the motor unit.
Check the model setting.
Replace the motor. (Encoder
Initialization communication failure of failure)
incremental encoder. Check the Replace the DMB.
5003
signal cable connection and the robot For T series, reboot the controller,
setting. take the measure against noise, and
replace the CPU board and motor
unit.
Check the model setting.
Replace the motor. (Encoder
Initialization failure of absolute failure)
5004 encoder. Check the signal cable Replace the DMB.
connection or the robot setting. For T series, reboot the controller,
take the measure against noise, and
replace the motor unit.
Encoder division setting failure.
5005 Check the model setting.
Check the robot setting.
Replace the motor.
Replace the DMB. (Encoder
Data failure during absolute encoder
failure)
initialization. Check the signal cable
5006 Check the noise countermeasures.
connection, the controller, or the
For T series, reboot the controller,
motor.
take the measure against noise, and
replace the motor unit.
226 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Absolute encoder multi-turn is beyond
Reset the encoder.
5007 the maximum range. Reset the
Replace the motor.
encoder.
Reset the encoder.
Position is out of the range. Reset
5008 Replace the DMB.
the encoder.
Replace the motor.
Check the model setting.
No response from the serial encoder. (Improperly setting of the parallel
Check the signal cable connection, the encoder model)
5009
motor, the DMB, or the encoder IF Check the signal cable connection.
board. Replace the DMB and encoder I/F
board.
Check the robot configuration.
Check the signal cable connection.
Serial encoder initialization failure.
Replace the DMB and encoder I/F
Reboot the controller.
5010 board.
Check the motor, the DMB, or the
For T series, reboot the controller,
encoder IF board.
take the measure against noise, and
replace the motor unit.
Check the robot configuration.
Check the signal cable connection.
Serial encoder communication failure.
Replace the DMB and encoder I/F
Reboot the controller. Check the
5011 board.
motor, the DMB, or the encoder IF
For T series, reboot the controller,
board.
take the measure against noise, and
replace the motor unit.
Replace the DMB.
Check the noise countermeasures.
Servo CPU watchdog timer failure. For T series, check the connection
5012 Reboot the controller. Check the of the signal cable. Reboot the
motor or the DMB. controller, take the measure
against noise, and replace the
motor unit.
Check the power cable connection.
Check the 15V power supply and
cable connection.
Current control circuit WDT failure.
Replace the DMB.
5013 Reboot the controller. Check the
Check the noise countermeasures.
controller.
For T series, reboot the controller,
take the measure against noise, and
replace the motor unit.

Check robot setting.

5014 The DMB is not for this robot.
Replace with the supported DMB.

Encoder is reset. Reboot the

5015 Reboot the controller.
controller.
Power supply failure of the absolute
Reset the encoder.
5016 encoder. Replace the battery.
Check the signal cable connection.
Check the robot internal wiring.
Backup data failure of the absolute Reset the encoder.
5017
encoder. Reset the encoder. Check the signal cable connection.
Replace the battery.
5018 Absolute encoder battery alarm.
Check the signal cable connection.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 227

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Reset the encoder.
Replace the motor. (Encoder
Position failure of the absolute
failure)
5019 encoder. Reset the encoder.
For T series, reboot the controller,
Replace the motor.
take the measure against noise, and
replace the motor unit.
Reboot the controller.
Reset the encoder.
Speed is too high at controller power For T series, reboot the controller,
5020 ON. Stop the robot and reboot the take the measure against noise, and
controller. replace the motor unit.
Check the interference with the
other devices.
Lower the motion duty.
5021 Absolute encoder overheat. Wait until the temperature of the
encoder decreases.
Reset the encoder.
R/D transducer failure. Reset the Check the signal wiring of the
5022 encoder. Check resolver board or the manipulator (loose pin,
robot internal wiring. disconnection, short).
Replace the resolver board.
Check the signal wiring
connection.
Check the signal wiring of the
G sensor communication failure.
manipulator (loose pin,
5023 Check for the signal cable connection
disconnection, short).
or manipulator internal wiring.
Check the noise countermeasure.
Replace the control board.
Replace the DMB.

G sensor data error.

5024 Replace the control board.
Check for the control board.

Gap occurred between multi-turn data Reset the resolver.

5025 and R/D conversion data. Check the noise countermeasure.
Encoder reset. Replace the resolver board.
Disconnection of the resolver Check the signal wiring of the
excitation signal. Reset the encoder. manipulator (loose pin,
5026
Check the resolver board or the robot disconnection, short).
internal wiring. Replace the resolver board.
S-DSP detected the communication Reboot the controller.
5027 error in DSP. Check the noise countermeasure.
Check for DMB. Replace the DMB.
Reboot the controller.
Check the noise countermeasure.
Replace the DMB.
Current feedback data error is
For T series, check the
5028 detected.
short-circuit and earth fault of the
Check for DMB.
power cable. Reboot the
controller or replace the motor
unit.
Reboot the controller.
D-DSP communication failure. Check
5029 Check the noise countermeasure.
the DMB.
Replace the DMB.

228 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Speed is too high at controller power Reset the encoder.

5030
OFF. Reset the encoder. Replace the motor.

Reset the encoder.

Speed is too high.
Replace the motor.
5031 Reset the encoder.
For T series, reboot the controller
Excess the calculation amount
and replace the motor unit.
5032 Servo alarm A. Reboot the controller.
Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Motor torque output failure in high
Check the power cable connection.
power state. Check the power cable
5040 Check the robot power wiring.
connection, the robot, the driver or the
(Missing pin, disconnection,
motor.
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable connection.
Motor torque output failure in low
Check the robot power wiring.
power state. Check the power cable
5041 (Missing pin, disconnection,
connection, robot, brake, driver, or
short-circuit)
motor.
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 229

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Position error overflow in high power
Check the power cable connection.
state. Check the power cable
5042 Check the robot power wiring.
connection, the robot, the driver and
(Missing pin, disconnection,
the motor.
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable connection.
Position error overflow in low power
Check the robot power wiring.
state. Check the power cable
5043 (Missing pin, disconnection,
connection, robot, brake, driver, or
short-circuit)
motor.
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.

230 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Speed error overflow in high power
Check the power cable connection.
state. Check the power cable
5044 Check the robot power wiring.
connection, robot, brake, driver, or
(Missing pin, disconnection,
motor.
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable connection.
Speed error overflow in low power
Check the robot power wiring.
state. Check the power cable
5045 (Missing pin, disconnection,
connection, robot, brake, drive, or
short-circuit)
motor.
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 231

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Reduce SpeedS of the CP motion.
Change the orientation of the CP
motion.
Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Over speed in high power state.
Check the model setting.
5046 Check the signal cable connection,
Check the power cable connection.
robot, brake, driver or motor.
Check the robot power wiring.
(Missing pin, disconnection,
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.
Check the motion in high power
state.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Check the model setting.
Over speed in low power state. Check the power cable connection.
5047 Check the signal cable connection, Check the robot power wiring.
robot, brake, driver, or motor. (Missing pin, disconnection,
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T series, replace the CPU
board and motor unit in addition to
the above.

232 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
loose belt tension, brake)
Check the interference with the
peripheral equipment. (Collision,
contact)
Over voltage of the main power
Check the model setting.
5048 circuit. Check the main power
Check the power cable connection.
voltage or the regeneration module.
Check the robot power wiring.
(Missing pin, disconnection,
short-circuit)
Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
Check the short-circuit and earth
fault of the power line.
Replace the motor driver.
Over current of the motor driver. Replace the DMB.
5049 Check the power cable connection or For T series, check the
the robot internal wiring. short-circuit and earth fault of the
power cable.
Reboot the controller or replace
the motor unit.
Over speed during torque control. Check the motion speed during
5050
Check the work motion speed range. torque control.
Check the 15V power supply and
15V PWM drive power supply failure.
cable connection.
5051 Reboot the controller. Replace the
Replace the motor driver.
15V power supply.
Replace the DMB.
Lower the motion duty.
Overload of the motor. Decrease the Check the Weight/Inertia setting.
5054
motion duty and the Accel. Check the robot. (Backlash, large
load, loose belt tension, brake)
Lower the motion duty.
Overload of the motor. Decrease the Check the Weight/Inertia setting.
5055
operation duty and the Accel. Check the robot. (Backlash, large
load, loose belt tension, brake)
G sensor data has changed rapidly. Check the noise countermeasure.
5056
Check the control board. Replace the control board.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 233

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Collision detection (detection of
robot motion error) was functioned.
The following errors have detected:
- Collision or contact of the robot
arm occurs.
- Torque saturation due to littile
setting of Weight or Inertia.
- Torque saturation due to
combined motion of multiple joints
and throwing around the long
object.
- Torque saturation due to supply
voltage reduction.
- Error motion due to hardware
error or software malfunction.
Countermeasures:
Check the there is no collision or
Collision was detected in High power contact of the robot arm and change
5057 mode the arrangement to avoid interfere.
(Detection of robot motion error) Comfirm that torque saturation is
occurred.
During torque saturation: check the
setting of Weight and Inertia are
properly and correct them if
necessary.
During combined motion: adjust
the acceleration and deceleration to
avoid torque saturation.
Check the power supply voltage
and correct them if necessary.
If other error occurres at the same
time, take a countermeasure for that
first.
Reference: EPSON RC+ 7.0 User’s
Guide “6.18.10 Collision Detection
Function (Error detection function
of robot motion)”

234 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Collision detection (Detection of
robot motion error) was functioned.
The following errors have detected:
- Collision or contact of the robot
arm occurs.
- Torque saturation due to holding a
hand or long object that exceeds the
weight described in the
specifications.
- Error motion due to hardware
error or software malfunction.
Countermeasures:
Check the there is no collision or
contact of the robot arm and change
Collision was detected in Low power
the arrangement to avoid interfere.
5058 mode
Check the hand weight and correct
(Detection of robot motion error)
it if nessesary.
Joint #4 and 5 of 6-axis robot:
comfirmed that torque saturation is
occurred.
If torque saturation is occurred:
change to hold in hight power
mode.
If other error occurres at the same
time, take a countermeasure for that
first.
Reference: EPSON RC+ 7.0 User’s
Guide “6.18.10 Collision Detection
Function (Error detection function
of robot motion)”
5072 Servo alarm B. Reboot the controller.
Lower the motion duty.
Motor is overloaded. Decrease the Check the Weight/Inertia setting.
5080
duty and the Accel. Check the robot. (Backlash, large
load, loose belt tension, brake)
Wait until the temperature of the
encoder decreases.
High temperature of the encoder.
Lower the motion duty.
5098 Decrease the duty. Check the
Check the Weight/Inertia setting.
reduction gear unit of the robot.
Check the robot. (Backlash, large
load, loose belt tension, brake)
High temperature of the motor driver. Clean the cooling fan filter.
Clean the controller fan filter. Check Lower the motion duty.
5099
the ambient temperature. Decrease Check the Weight/Inertia setting.
the duty. Lower the ambient temperature.
5112 Servo alarm C. Reboot the controller.
Reboot the controller.
Failed to initialize the force control.
5501 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Reboot the controller.
Force control calculation error.
5510 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Check whether the coordinate out
Coordinate transformation error in
of the motion range is specified.
force control.
5511 Check whether the robot moves
Check whether the robot moves
outside of the motion range during
outside of the motion range.
the execution of force control.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 235
Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check the combination of Spring,
Impedance parameter error.
Damper, and Mass. Check
5520 Check the combination of Mass,
whether the Mass property is too
Damper, and Spring
small for the Damper property.
Check association with the robot.
The coordinate system mode other
Check if the direction other than
than the custom mode is specified for
the Custom coordinate is specified
the Force Sensor which is not
5521 for the Orientation property of the
associated with the robot.
force coordinate system object for
Check configuration of the Force
the sensor which is not associated
Sensor or the coordinate system mode.
with the robot.
Undefined data is selected. Check if the specified parameter is
5522
Check if the selected data is defined. defined.
The parameter which cannot be Check the force control object and
continued when the CF continues the force coordinate object which
5523 force control is specified. are used by the motion commands
Check the Force Control Object and before and after continuing the
the Force Coordinate System Object. force control by the CF parameter.
The specified time has passed after
resetting the Force Sensor. Execute the Reset property for the
5530
Execute the Reset property of the Force Sensor object.
Force Sensor Object.
Check whether the coordinates
near the singularity is specified.
Approached the singularity point
Check whether the robot moves to
while executing force control.
5531 the vicinity of the singularity
Avoid the singularity point when using
during the execution of force
force control.
control. Or, review the
installation position of the robot.
Buffer for Force Sensor averaging is
Shorten the time interval between
saturated.
5532 AvgForceClear and AvgForce to
Shorten the time interval from
be shorter than a minute.
AvgForceClear to AvgForce.
The continuing time for CF to execute
Check whether the interval of the
force control has passed.
5533 motion commands is one minute or
To continue force control, use
less.
FCKeep.
SCARA robot cannot execute force
control if the Orientation property of Set “0” to the Orientation property
Base, Tool, Local, and FCS objects, or or V and W of the current
5535
V and W of the current command command position for Base, Tool,
position are other than 0. Local, and FCS objects.
Check the parameters.
Force control is not supported for this Check if the specified robot is
robot model. correct.
5536
Check the robot model and the Check if the Controller firmware
controller firmware version. supports the robot model.
Execute the Reboot property for
the Force Sensor object.
Check connection of the Force
Sensor and Force Sensor I/F unit
Force Sensor transmission error.
(board).
5540 Check connection of the Force Sensor
Reboot the Force Sensor and Force
I/F unit (board) and Force Sensor.
Sensor I/F unit (board).
Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.

236 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Execute the Reboot property for
the Force Sensor object.
Check connection of the Force
Sensor and Force Sensor I/F unit
Force Sensor reception error.
(board).
5541 Check connection of the Force Sensor
Reboot the Force Sensor and Force
I/F unit (board) and Force Sensor
Sensor I/F unit (board).
Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
Check whether the Reset property
Force Sensor in use.
or Reboot property of the Force
5542 Check if other commands are using
Sensor object are executed in
the Force Sensor.
another task.
Execute the Reboot property for
the Force Sensor object.
Check connection of the Force
Sensor and Force Sensor I/F unit
Force Sensor communication error.
(board).
5543 Execute the Reboot property of the
Reboot the Force Sensor and Force
Force Sensor Object.
Sensor I/F unit (board).
Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
This error may occur if a long time
passed while the Force Sensor is
not reset.
Execute the Reset property for the
Element error of Force Sensor.
Force Sensor object.
Check whether force exceeding the
Check whether force exceeding the
rated value is applied to the Force
5544 rated value is applied to the Force
Sensor.
Sensor.
Execute the Reset property of the
Reboot the Force Sensor and Force
Force Sensor Object.
Sensor I/F unit (board).
Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
Execute the Reset property for the
Force Sensor object.
Circuit error 1 of Force Sensor. Reboot the Force Sensor and Force
5545 Execute the Reset property of the Sensor I/F unit (board).
Force Sensor Object. Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
Execute the Reset property for the
Force Sensor object.
Reboot the Force Sensor and Force
Circuit error 2 of Force Sensor.
Sensor I/F unit (board).
5546 Execute the Reset property of the
If a similar error occurs even after
Force Sensor Object.
the above countermeasures are
taken, check if the tip of the robot
arm has a vibration.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 237

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Execute the Reset property for the
High temperature error of the Force
Force Sensor object.
Sensor.
Check the ambient temperature.
Check if the ambient temperature is
Reboot the Force Sensor and Force
5547 within the rated value and there is no
Sensor I/F unit (board).
rapid temperature change.
Please inquire with us if a similar
Execute the Reset property of the
error occurs even after the above
Force Sensor Object.
countermeasures are taken.
Execute the Reset property for the
Force Sensor object.
Force Sensor detected force exceeding Check whether force exceeding the
the rated value. rated value is applied to the Force
Check if force exceeding the rated Sensor.
5548
value is applied. Reboot the Force Sensor and Force
Execute the Reset property of the Sensor I/F unit (board).
Force Sensor Object. Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
Check connection of the Force
Sensor and Force Sensor I/F unit
Force Sensor I/F unit (board) is not (board).
connected. Reboot the Force Sensor and Force
5549
Check connection of the Force Sensor Sensor I/F unit (board).
I/F unit (board) and Force Sensor. Please inquire with us if a similar
error occurs even after the above
countermeasures are taken.
Force sensing of the Force Sensor is Check the configuration of Force
off. Sensor.
5550
Check configuration of the Force Reboot the Force Sensor and Force
Sensor. Sensor I/F unit (board).
Check whether the controller
firmware supports the Force
Unsupported Force Sensor is Sensor.
connected. Check the controller Check connection of the Force
5551
firmware version and connection of Sensor and Force Sensor I/F unit
the Force Sensor. (board).
Reboot the Force Sensor and Force
Sensor I/F unit (board).
Check connection of the Force
Sensor and Force Sensor I/F unit
5560 Drift correction error of Force Sensor. (board).
Reboot the Force Sensor and Force
Sensor I/F unit (board).
Force monitor buffer overflow. Close and re-open the force
5570
Reboot the force monitor. monitor.
Set the data measuring interval
Force log buffer overflow.
longer.
5571 Set the data measurement interval
The computer receiving the data
longer.
may be under heavy load state.
Force control monitor buffer overflow. Close and re-open the Force
5572
Reboot the force control monitor. Control Monitor.
Reboot the controller.
The log data of the force guide
5573 The computer receiving the data
sequence overflowed.
may be under heavy load state.

238 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Set the data measuring interval
RecordStart buffer overflowed. Set the longer.
5574
data measurement interval longer. The computer receiving the data
may be under heavy load state.
Reboot the controller.
Failed to initialize the force control.
5800 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Force control failed to allocate Reboot the controller.
5801 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Reboot the controller.
Force control calculation error.
5802 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Force Sensor failed to connect with
the robot. Check connection setting of the
5803
Check connection setting of the Force Force Sensor.
Sensor.
Force control parameter error. Check the range of the specified
5810
Check the parameter range. parameter.
1:Number
2:CoordinateSyste 1:Fx
m 2:Fy
3:Enabled 3:Fz
Force Control Object parameter is out
4:Mass 4:Tx
of the range.
Check the property of force control 5:Damper 5:Ty
5811 Note 1: Property
object. 6:Spring 6:Tz
Note 2: Axis
7:TargetForcePriori or
Check the parameter.
tyMode 1:J
8:TargetForce 2:S
9:LimitSpeed 3:R
10:LimitAccel
LimitSpeed or LimitAccel of the Force Check the values of Speed,
Control Object is lower than speed or SpeedS, SpeedR, Accel, AccelS,
5812
accel setting of the robot. AccelR, LimitSpeed and
Check the parameter. LimitAccel.
Enabled properties of the Force
Enable the “Enabled” property for
5813 Control Object are all false.
at least one axis.
Set true to 1 or more axis.
SCARA robot cannot execute force
control if the Orientation property of Disable the enabled state of Tx and
Base, Tool, Local, and FCS objects, or Ty.
V and W of the current command Set “0” to the Orientation property
5814
position are other than 0, or V and W of the current
or if Tx_Enabled and Ty_Enalbed are command position for Base, Tool,
not False. Local, and FCS objects.
Check the parameters.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 239

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

1:Number
2:Force Sensor
3:
CoordinateSystem
4:TriggerMode
5:Operator 1:Fx
6:Enabled 2:Fy
Force Trigger Object parameter is out
7:FMag_Axes 3:Fz
of the range.
Check the property of force trigger 8:TMag_Axes 4:Tx
5815 Note 1: Property
object. 9:Polarity 5:Ty
Note 2: Axis
10:UpperLevel 6:Tz
Check the parameter.
11:LowerLevel 7:Fmag
12: UpperLevel 8:Tmag
smaller than
LowerLevel
13:LPF_Enabled
14:LPF_TimeConst
ant
1:Number
1:X
2:Position
Force Coordinate System Object 2:Y
3:Orientation_Mod
parameter is out of the range. 3:Z
Check the property of force e
5816 Note 1: Property or
coordinate system object. 4:Orientation_UV
Note 2: Axis 1:U
W
Check the parameter. 2:V
5:Orientation_Robo
3:W
tLocal
1:Number
2:Force Sensor
Force Monitor Object parameter is out 3:CoordinateSyste
of the range. m
Check the property of force
5817 Note 1: Property 4:FMag_Axes
monitor object.
Note 2: Axis 5:TMag_Axes
Check the parameter. 6:LPF_Enabled
7:LPF_TimeConsta
nt
Reboot the controller.
Force motion restriction object
5818 Initialize the controller firmware.
parameter is out of the range.
Replace the controller.
Specified duration of FCKeep is out of
Check whether the specified
5819 the allowable range.
duration is 600 seconds or less.
Check the duration.
Force control cannot resume from the
5830 Abort the motion.
pause. Abort the motion command.
Cannot execute this command during
Abort force control.
5831 force control.
Execute FCEnd command.
Exit force control by FCEnd.
Cannot execute the motion command Check whether the motion
which has no Force Control Object command right after continuing
5832
during force control. the force control by CT does not
Exit force control by FCEnd. contain force control.
Check whether the Reset property
Force Sensor in use.
or Reboot property of the Force
5840 Check whether other commands are
Sensor object are executed in
sing the Force Sensor.
another task.

240 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

When the parameter is omitted or
FG_RESET_FINE is specified,
specify 1: Timeout since
FG_RESET_WAIT_VIBRATION Fine condition is
Failed to reset the force sensor.
for parameter. not satisfied.
5841 Reset the force sensor again.
When 2: Timeout since
Note1: Detailed error information
FG_RESET_WAIT_VIBRATION the vibration did
is specified, adjust the reset timing not stop.
by Wait statement or remove the
source of external vibration.
Force control failed to allocate Reboot the controller.
5901 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Force control failed to release Reboot the controller.
5902 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Reboot the controller.
5903 The specified robot cannot be found. Initialize the controller firmware.
Replace the controller.
Force control failed to allocate Reboot the controller.
5904 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Specified force data number cannot be Reboot the controller.
5906 found. Specify a valid force data Initialize the controller firmware.
number. Replace the controller.
Specified force data number was not
Specify a defined force data
5907 defined.
number.
Specify a teach force data number.
Specified force coordinate system data
number was not defined. Specify a Specify a defined force coordinate
5908
teach force coordinate system data system data number.
number.
Specified force data cannot be
5909 Specified force data can't be updated. updated nor deleted by FSet, FDel,
MPSet, or MPDel statement.
Specified force data value is out of
5910 Specify the value within the range.
allowable range.
The Upper level value is smaller than
Change the upper and lower level
5911 the lower level value. Change the
values.
upper and lower level values.
The number of specified command
Specify a valid number of Number of
5912 parameters is not correct.
parameters. parameters
Specify a valid number of parameters.
The number of specified function
Specify a valid number of Number of
5913 parameters is not correct.
parameters. parameters
Specify a valid number of parameters.
The type of a specified command
5914 parameter is not correct. Specify valid parameters.
Specify valid parameters.
The type of a specified function Reboot the controller.
5915 parameter is not correct. Initialize the controller firmware.
Specify valid parameters. Replace the controller.
Specified force data label cannot be
Specify a defined valid force data
5918 found.
label.
Specify a valid force data label.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 241

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Duplicate force data label. Specified
5921 label name is already used. Change the label name.
Change the label name.
Force control of the specified robot Reboot the controller.
5924 failed to allocate memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
0:FC
Cannot read the force data from the The force data is invalid and 1:FCS
Force data
5927 force file. cannot be read. 2:FT
number
Re-create the force file. Re-create the force file. 3:FM
4:MASS
Force control failed to allocate Reboot the controller.
5928 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Specified force file name is not Reboot the controller.
5929 correct. Initialize the controller firmware.
Specify a valid force file name. Replace the controller.
Specified force data label is beyond Specify a valid force data label.
5930 the maximum length. Specify a valid Refer to "Label Property" for
force data label. details.
Description for the specified force data Specify a valid description.
5931 is beyond the maximum length. Refer to "Description Property" for
Specify a valid description. details.
Cannot load the force file because
The force file is corrupted. it is corrupted or was edited by
5932
Re-create the force file. tools other than Force Guide 7.0.
Re-create the force file.
Specified force file cannot be found.
5933 Specify a valid force file name.
Specify a valid force file name.
Make an enough space to write the
5934 Cannot save the force file. Robot number
force file.
Specify a valid force data label.
The force data label is not correct.
5940 Refer to "Label Property" for
Specify a valid force data label.
details.
Specify a valid force data label.
The force data label is not correct.
5941 Refer to "Label Property" for
Specify a valid force data label.
details.
Invalid force file version. Cannot load the force file because
5943
Update the controller firmware. it is a newer version.
Failed to read the force file. Cannot load the force file because
5944
Re-create the force file. the format is not supported.

242 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

6001 Calibration number is out of range. Correct the calibration number.
6002 Calibration is not defined. Perform calibration.
Correct the CameraOrientation
6003 Camera orientation is out of range.
value.
6004 TwoRefPoints flag is out of range. Correct the TwoRefPoint value.
Cannot calculate the point position because there
6005 Re-teach the points.
is invalid data.
Calibration failed. Cannot calculate because Perform point teaching and
6006
there is invalid data. calibration again.
Coordinate transformation failed. Cannot
6007 Reteach the points.
calculate because there is invalid data.
6009 Calibration file name is invalid. Correct the calibration file name.
6010 Calibration file is not found. Correct the calibration file name.
6012 Failed to read the calibration file. Correct the calibration file name.
Check access permission for the
6013 Failed to write the calibration file.
project folder.
Make sure that at least 9 results are
6014 9 pixel coordinate points should be specified.
obtained in the vision sequence.
Make sure that at least 18 results are
6015 18 pixel coordinate points should be specified.
obtained in the vision sequence.
6016 9 robot coordinate points should be specified. Reteach the points.
6017 18 robot coordinate points should be specified. Reteach the points.
9 robot coordinate points and 1 reference point Perform point teaching and
6018
should be specified. calibration again.
9 robot coordinate points and 2 reference points Perform point teaching and
6019
should be specified. calibration again.
Check the connection with the
6502 Vision process Communication error (-3)
camera (cable, setting).
6503 Vision process Memory error (-11) Reboot the RC+.
6506 Vision process Error at modeling (-14) Change the target and teach again.
Specify the file of appropriate
6507 Vision process Recovery error(-15)
format.
Vision process Invalid number of iterations
6508 Set a value in the valid range.
(-16)
6509 Vision process Invalid mode (-17) Set a valid value.
6510 Vision process Invalid threshold value (-18) Set a value in the valid range.
6511 Vision process Invalid polarity (-19) Set a value in the valid range.
6512 Vision process File open failed (-20) Specify a correct file.
6513 Vision process Initialization error (-21) Reinstall the RC+.
Check the connection with the
6514 Vision process Status error (-22)
camera.
Specify the image file of readable
6517 Vision process Invalid image format (-25)
format.
6520 Vision process Invalid property value (-100) Set a value in the valid range.
Vision process Exposure termination process
6521 Disable Windows Firewall.
failed (-201)
Vision process Invalid Blob property
6533 Set a value in the valid range.
ThresholdLow value (-11004)
Vision process Invalid Blob property
6534 Set a value in the valid range.
ThresholdHigh value (-11005)
Vision process Invalid Blob property Polarity
6535 Set a value in the valid range.
value(-11006)
Vision process Invalid Blob property
6536 Set a value in the valid range.
NumberToFind value (-11007)
Vision process Invalid Blob property MinArea
6537 Set a value in the valid range.
value (-11008)
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 243
Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Vision process Invalid Blob property MaxArea
6538 Set a value in the valid range.
value (-11009)
Vision process Invalid Blob property
6539 Set a value in the valid range.
RejectOnEdge value (-11010)
Vision process Invalid Blob property
6540 Set a value in the valid range.
SizeToFind value (-11011)
Vision process Invalid Geom property
6553 Set a value in the valid range.
Accept value (-11504)
Vision process Invalid Geom property
6554 Set a value in the valid range.
NumberToFind value (-11505)
Vision process Invalid Geom property
6555 Set a value in the valid range.
AngleEnable value (-11506)
Vision process Invalid Geom property
6556 Set a value in the valid range.
AngleRange value (-11507)
Vision process Invalid Geom property
6557 Set a value in the valid range.
AngleStart value (-11508)
Vision process Invalid Geom property
6558 Set a value in the valid range.
ScaleEnable value (-11509)
Vision process Invalid Geom property
6559 Set a value in the valid range.
ScaleFactorMax value (-11510)
Vision process Invalid Geom property
6560 Set a value in the valid range.
ScaleFactorMin value (-11511)
Vision process Invalid Geom property
6561 Set a value in the valid range.
ScaleTarget value (-11512)
Vision process Invalid Geom property
6562 Set a value in the valid range.
SeparationMinX value (-11513)
Vision process Invalid Geom property
6563 Set a value in the valid range.
SeparationMinY value (-11514)
Vision process Invalid Geom property
6564 Set a value in the valid range.
SeparationAngle value (-11515)
Vision process Invalid Geom property
6565 Set a value in the valid range.
SeparationScale value (-11516)
Vision process Invalid Geom property
6566 Set a value in the valid range.
Confusion value(-11517)
Vision process Invalid Geom property
6567 Set a value in the valid range.
ModelOrgAutoCenter value (-11518)
Vision process Invalid Geom property
6570 Set a value in the valid range.
DetailLevel value (-11521)
Vision process Invalid Geom property
6571 Set a value in the valid range.
Smoothness value (-11522)
Vision process Invalid Geom property
6572 Set a value in the valid range.
RejectOnEdge value (-11523)
Vision process Invalid Geom property
6573 Set a value in the valid range.
SharedEdges value (-11524)
Vision process Invalid Geom property
6574 Set a value in the valid range.
Timeout value (-11525)
Vision process Invalid Geom property
6575 Set a value in the valid range.
RejectByArea value (-11526)
Vision process Invalid Geom property
6576 Set a value in the valid range.
SearchReversed value (-11527)
Vision process Invalid Geom property
6577 Set a value in the valid range.
ScaleTargetPriority value (-11528)
Vision process Invalid Geom property
6578 Set a value in the valid range.
SearchReducedImage value (-11529)
Vision process Invalid Geom Model property
6586 Set a value in the valid range.
DetailLevel value (-11602)

244 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Vision process Invalid Geom Model property
6587 Set a value in the valid range.
Smoothness value (-11603)
Vision process Invalid Corr property
6603 Set a value in the valid range.
Accept value (-12004)
Vision process Invalid Corr property
6604 Set a value in the valid range.
NumberToFind value (-12005)
Vision process Invalid Corr property
6605 Set a value in the valid range.
AngleEnable value (-12006)
Vision process Invalid Corr property
6606 Set a value in the valid range.
AngleRange value (-12007)
Vision process Invalid Corr property
6607 Set a value in the valid range.
AngleStart value (-12008)
Vision process Invalid Corr property
6608 Set a value in the valid range.
AngleAccuracy value (-12009)
Vision process Invalid Corr property
6609 Set a value in the valid range.
Confusion value (-12010)
Vision process Invalid Corr property
6610 Set a value in the valid range.
ModelOrgAutoCenter value (-12011)
Vision process Invalid Corr property
6613 Set a value in the valid range.
RejectOnEdge value (-12014)
Vision process Invalid Corr property
6614 Set a value in the valid range.
Timeout value (-12015)
Vision process Invalid Corr property
6615 Set a value in the valid range.
RejectByArea value (-12016)
Vision process Invalid Edge property structure
6630 Set a value in the valid range.
size (-12501)
Vision process Invalid Edge result header
6631 Set a value in the valid range.
structure size (-12502)
Vision process Invalid Edge result item
6632 Set a value in the valid range.
structure size (-12503)
Vision process Invalid Edge property
6633 Set a value in the valid range.
EdgeType value (-12504)
Vision process Invalid Edge property
6634 Set a value in the valid range.
NumberToFind value (-12505)
Vision process Invalid Edge property
6635 Set a value in the valid range.
Polarity value (-12506)
Vision process Invalid Edge property
6636 Set a value in the valid range.
SearchWidth value (-12507)
Vision process Invalid Edge property
6637 Set a value in the valid range.
Accept value (-12508)
Vision process Invalid Edge property
6638 Set a value in the valid range.
ScoreWeightContrast value (-12509)
Vision process Invalid Edge property
6639 Set a value in the valid range.
ContrastTarget value (-12510)
Vision process Invalid Edge property
6640 Set a value in the valid range.
ContrastVariation value (-12511)
Vision process Invalid Edge property
6641 Set a value in the valid range.
StrengthTarget value (-12512)
Vision process Invalid Edge property
6642 Set a value in the valid range.
StrengthVariation value (12513)
Change to the code with a proper
Vision process Code Reader
6653 checksum. Or, change the setting
Checksum error (-1010)
not to use the checksum.
Ensure a quiet zone (blank margin)
Vision process Code Reader
6654 around the code. Set the quiet
Invalid quiet zone (-1011)
zone narrower.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 245

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Vision process Code Reader
6655 Change the code.
Message is too long (-1012)
Vision process OCR
6686 Delete the registered characters.
Recognition dictionary is full (-2132)

246 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Reboot the controller.
7003 The specified robot cannot be found.
Initialize the control firmware.
Duplicate allocation of the point data Reboot the controller.
7004
area. Initialize the control firmware.
Specified point number cannot be
7006 Check the specified point number.
found. Specify a valid point number.
Specified point number was not Check whether point data is registered in
7007 defined. Specify a teach point the specified point.
number. Perform the teaching.
Reboot the controller.
Cannot allocate the memory area for
7010 Initialize the controller firmware.
the pallet definition.
Replace the controller.
Cannot free the memory area for the Reboot the controller.
7011
pallet definition. Initialize the controller firmware.
Specified pallet number cannot be
7012 Check the pallet number.
found. Specify a valid pallet number.
Check whether the specified pallet is
Specified pallet is not defined. Specify
7013 defined by the Pallet statement.
a defined pallet or define the pallet.
Declare the pallet.
Specified division number is beyond
7014 the pallet division number definition. Check the specified division number.
Specify a valid division.
Specified coordinate axis number does Check the specified coordinate axis
7015
not exist. number.
Specified arm orientation number does Check the specified arm orientation
7016
not exist. number.
Reboot the controller.
7017 Cannot allocate the required memory. Initialize the controller firmware.
Replace the controller.
Specified point label cannot be found.
7018 Check the specified point label.
Specify a valid point label.
Parameter setup in the initialization Reboot the controller.
7019
file is invalid. Initialize the controller firmware.
Duplicate point label. Specified label
7021 name is already used. Change the Change the point label.
label name.
Specified local coordinate system is
Check the specified local number.
7022 not defined. Specify a valid local
Define the Local coordinate system.
coordinate system number.
Point data memory area for the
7024 Rebuild the project.
specified robot is not allocated.
Check the point file name.
Cannot open the point file. Specify a
7026 Check whether the point file specified
valid point file name.
for the project exists.
Cannot read the point data from the
7027 Create the point file again.
point file.
Point area is allocated beyond the There are too many points.
7028
available point number. Review the number of points.
Specified point file name is not
7029 correct. Specify a valid point file Check the file extension.
name.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 247

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Specified point label is beyond the
7030 maximum length. Specify a valid Change the point label.
point label.
Description for the specified point is
7031 beyond the maximum length. Change the comment.
Specify a valid description.
Point file is corrupted. Check sum
7032 Create the point file again.
error.
Specified point file cannot be found. Check the name of the specified point
7033
Specify a valid point file name. file.
Failed to save the point file (create a
temporary file).
7034 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (file open).
Reboot the controller.
7035 Cannot save the point file.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (renew the
file header).
7036 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (create the
file name).
7037 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (copy the
file).
7038 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (change the
file name).
7039 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
The initial character of the point label
The point label is not correct.
7040 name is improper. Correct the label
Specify a valid point label.
name.
The point label is not correct. Inadequate character is used.
7041
Specify a valid point label. Correct the label name.
Undefined flag for pallet data is mixed.
7042 The pallet cannot be defined. Check the point data.
Correct the point data.
The point file version is different.
7043 Invalid point file version.
Re-create the point file.
The point file format version is The point file is not supported.
7044
unsupported. Re-create the point file.
The specified work queue number is
7045 Check the specified work queue number.
invalid.
The work queue is full. Delete the
7046 The specified work queue is full. point data from the work queue and
register.

248 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The specified work queue data does
7047 Check the specified index.
not exist.
Failed to initialize the work queue
(allocate memory).
The work queue is not correctly
7048 Reboot the controller.
initialized.
Initialize the controller firmware.
Replace the controller.
The parameter of the work queue Check the parameters of the commands
7049
instruction is invalid. related to the work queue.
Cannot set the work queue since the
Cannot execute while work queue data point data is registered to the work
7050
is registered. queue.
Empty the work queue before setting.
1
2
The fieldbus slave board is broken or the
controller software is damaged. 3
Restore the controller firmware. 4
10
A communication data error was
detected during communication. The 11
communication cable has a problem.
Fieldbus slave. An error occurred Check the communication cable and its 12
7101 related units.
during I/O data transform.
The fieldbus is broken or the controller 13
software is damaged. Restore the 14
controller firmware. 15
The PLC is not running or not
connected.
Check the PLC, the communication
22
cable, and peripherals.
(If Code 1 is 22 when the CC-Link board
is used.)

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 249

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

The fieldbus slave board is broken or the 1
controller software is damaged. 2
Restore the controller firmware. 3
Fieldbus slave. Timeout error occured A communication data error was
7103
during I/O data transform. detected during communication. The
communication cable has a problem. 4
Check the communication cable and its
related units.
Fieldbus master. Check the connection of the
7150
Bus is disconnected. communication cable for the fieldbus.
Check whether the communication cable
7151 Fieldbus master. Bus power is off.
for the fieldbus is powered.
Reboot the controller.
Fieldbus master.
7152 Check the fieldbus master board.
Bus status error.
Replace the fieldbus master board.
7200 Invalid argument. Check the parameter.
7201 A system error occurred. -
7202 There is not enough memory. -
7203 Access is denied. -
7210 Drive is not ready. Set the device.
7211 The specified path is invalid. Make sure the specified path exists.
If the specified directory or file already
7212 The specified path already exists.
exists, you cannot execute.
The file specified by path does not
7213 Make sure the specified file exists.
exist.
Specify the file that is less than 2G
7214 File size is too large.
bytes.
The specified file number is already
7215 The specified file is open.
existing. Use another file number.
Make sure you opened in reading or
7216 The open mode is illegal.
writing mode.
7217 There is no read data. Make sure there are data to read.
The specified file number is already
7230 The specified connection is open.
existing. Use another file number.
A connection-level error occurred
7231 Check the access right of database.
while opening the connection.
7232 The connection is closed. Use OpenDB and open the database.
Convert the data into string or numeric
7233 An unsupported data type was used.
value.
Too large data in a line. Specify the
7234 Data size is too large. query so that necessary field are only
retrieved.
The specified file type is not
7235 Check the type of Excel file.
supported.
7236 There is no selected data. Make sure the data you retrieved exists.
There are no retrieved data. Check the
7250 No bytes were available to read.
send program.
Check the device setting for the specified
7251 The port is in an invalid state.
port.
7252 The specified port is open. Check the port number to open.
7253 The port is closed Check the port number to close.
7254 The specified port is not open. Check the port number to open.
Check the port timeout period and
7255 Timeout reading from the port.
update to the appropriate setting.

250 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check the port timeout period and
7256 Timeout writing to the port.
update to the appropriate setting.
The checksum in project file is
7260 Rebuild the project.
invalid.
7261 Invalid function. Check the function definition to call.
7262 Invalid parameters. Check the function definition to call.
7263 Cannot execute while creating DLL. -
7264 Failed to create DLL. -
7265 DLL file cannot be found. -

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 251

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Vision Communication.
7300 -
Server mode not supported.
Vision Communication.
7302 Check the connection with the camera.
Failed to read from the camera.
Vision Communication. Data exceeding the receive buffer was
7303
Read data overflow. received.
Vision Communication.
7304 Check the connection with the camera.
Failed to open the Ethernet port.
Vision Communication. Rebuild the project. Check the camera
7305
Invalid IP address of camera. configuration.
Vision Communication.
7306 -
No specification of Server or Client.
Vision Communication.
7307 Check the connection with the camera.
Failed to send to the camera.
Vision Communication. The version of the connected camera is
7308
Camera version is old. old. Update the camera.
Vision Communication. Rebuild the project. Check the camera
7321
Camera setting has not been set. configuration.
Vision Communication.
7322 Check the connection with the camera.
Read timeout.
Vision Communication.
7323 Check the connection with the camera.
Read invalid data.
Vision Communication.
7324 Check the connection with the camera.
Failed to send to the camera.
Vision Communication.
7325 Check the connection with the camera.
Connection is not completed.
Vision Communication.
7326 -
Read data is too long.
Vision Communication.
7327 Check the sequence name.
Undefined vision sequence.
Vision Communication. Rebuild the project. Check the camera
7328
Camera setting has not been set. configuration.
Vision Communication. Rebuild the project. Check the camera
7329
Vis file was not found. configuration.
Vision Communication. Reduce the number of sequences,
7330
Failed to allocate memory. objects, and calibration.
Vision Communication.
7341 Review the camera registration.
Out of max camera number.
Vision Communication.
7342 Review the camera registration.
Invalid camera number.
Vision Communication. Review the names and string variables of
7343
VSet parameter is too long. sequences, objects, and calibration.
The number of specified variables is
Vision Communication:
7344 exceeding 32. Reduce the number of
Too many parameters for VGet.
parameters.
Vision Communication.
Reboot the camera.
7345 Not enough data for VGet statement
Check the version of the camera.
variable assignment.
Vision Communication.
7346 Cannot execute a Vision statement Execute the command from the program.
from the command window.
Matrix determinate too small. If specifying the virtual camera, specify
7400
the real camera.
Invalid value for maximum motion
7402 Specify the valid value.
distance.

252 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Invalid value for maximum pose
7403 Specify the valid value.
difference angle.
7404 Invalid value for LJMMode. Specify the valid value.
7405 Command aborted by user. －
Joint 1 angle change exceeded the
7406 Adjust the start angle of Joint 1.
maximum allowed during calibration.
Joint 2 angle change exceeded the
7407 Adjust the start angle of Joint 2.
maximum allowed during calibration.
Joint 4 angle change exceeded the
7408 Adjust the start angle of Joint 4.
maximum allowed during calibration.
Joint 6 angle change exceeded the
7409 Adjust the start angle of Joint 6.
maximum allowed during calibration.
Network camera. Timeout during
7410 Check the connection of PC and camera.
image file transfer from PC.
No upward camera sequence was Specify the existing spequence.
7411 specified for mobile calibration with
upward reference.
The specified upward camera Set the calibration for upward camera
7412
sequence has no calibration. sequence.
The specified upward camera Complete the upward camera sequence
7413
sequence calibration is not complete. calibration.
The target sequence cannot be used Set the RuntimeAcquire of target
7414
when RuntimeAcquire is Strobed. sequence to Stationary.
Invalid calibration reference type. Selectable ReferenceType is different
7415 depending on CameraOrientation.
Select again.
Invalid calibration data. Teach the Need to teach the calibration points
7416
calibration points again. again.
Invalid calibration setup. Try to perform point teach of calibration
7417
again. Or check the target sequence.
Invalid calibration target sequence. Target sequence may not be selected or
7418 camera number of the target sequence
differs from that of calibration.
The target sequence camera is not the Set the sequence of the same camera.
7419
same as the calibration camera.
The target sequence has no objects. Add the detection object to target
7420
sequence.
Invalid last step for the target Check the steps.
7421
sequence.
Exception occurred when search for Check the target sequence.
7422
the calibration target.
Invalid number of results for Create a sequence to detect results of
7423
calibration target sequence. required number of targets.
7424 Cannot load the calibration points. Perform calibration point teach again.
Invalid camera orientation. Check the CameraOrientation of
7425
calibration.
Distortion correction calibration is Perform distortion correction if it is set.
7426
incomplete.
V and W coordinates must be zero for Set V and W of the Base to 0.
7428
the type of robot used.
Invalid robot speed specified for the Specify the valid value.
7429
current operation.
Invalid robot acceleration specified for Specify the valid value.
7430
the current operation.
Invalid ShowWarning parameter Specify the valid value.
7431
value.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 253

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Cannot create the object using the Check the Vision object type.
7432
camera specified in the sequence. Update the camera firmware.
Network camera. Initialize the camera.
7500
Out of memory. Reduce the project size.
Network camera.
7501 Rebuild the project.
Project does not exist.
Network camera.
7502 Rebuild the project.
Project has not been set.
Network camera.
7503 Vision property or result not Update the camera firmware.
supported.
Network camera.
7504 Rebuild the project.
Cannot open project file.
Check the sequence name.
7505 Undefined vision sequence.
Rebuild the project.
Check the object name.
7506 Undefined vision object.
Rebuild the project.
Network camera. Initialize the camera.
7507
Critical error. Rebuild the project.
Network camera.
7508 Update the camera firmware.
Invalid command.
Check the property value.
7509 Invalid vision property value.
Update the camera firmware.
Check the property name.
7510 Invalid vision property.
Update the camera firmware.
7511 Vision model not trained. Teach the model.
Check the calibration name.
7512 Undefined vision calibration.
Rebuild the project.
7513 Vision model object not Self. Check the property value.
Check the result name.
7514 Invalid vision result.
Update the camera firmware.
Check the Found result before obtaining
7515 Vision object not found.
the result.
7516 No vision calibration. Check the calibration name.
7517 Incomplete vision calibration. Perform calibration.
Network camera.
7518 Check the camera connection.
Cannot connect with camera.
Network camera.
7819 Check the camera connection.
Communication error.
7520 Window out of bounds. Set the window within the bounds.
7521 OCR font is invalid. Register the OCR font.
Change the calibration name.
The specified vision calibration
7522 Delete the existing calibration in
already exists.
advance.
The specified vision sequence already Change the sequence name.
7523
exists. Delete the existing sequence in advance.
The specified vision object already Change the object name.
7524
exists. Delete the existing sequence in advance.
The project folder may be corrupt.
7525 Cannot load vision project.
Restore backup data.
The project folder may be write-protect.
7526 Cannot save vision project. Check the access permission for the
project folder.
Initialize the camera.
7527 Vision processor. Critical error.
Rebuild the project.
7528 Image file not found. Check the image file.
254 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20
 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

7529 Camera does not exist. Check the camera connection.
7530 Acquisition failed. Check the camera connection.
7531 No objects to train. Teach the model.
7532 Cannot load image file. Check the image file.
SC300/SC1200 is not supported by
7533 Camera is not supported by RC+7.0. RC+7.0.
Use CV1/CV2.
Camera firmware does not support
7534 Update the camera firmware.
new functions of RC+7.0.
7535 Invalid data from network camera. Initialize the camera.
7536 Network camera export status failed Initialize the camera.
ImageSize exceeding the camera
Invalid ImageSize value. The specified
7537 resolution cannot be specified. Correct
value is not supported by the camera.
the property value.
Invalid ZoomFactor. The specified
Settable values are from 0.1 to 10.0.
7538 value requires data outside of the
Correct the property value.
image area.
The camera does not support Code
7539 Update the camera firmware.
Reader.
7540 The camera does not support OCR. Update the camera firmware.
Black or white image cannot be
7541 Insufficient data for teaching model.
registered as a model.
Model window cannot be outside of Correct the position of the model
7542
image. window.
Calibration points have not been
7543 Teach the calibration point.
taught.
Sequence with the calibration data of the
7544 Calibration must be fixed upward.
upward fixed camera is only settable.
7545 Point was not defined. Teach the calibration point.
RobotPlacePos has not been Click CalRobotPlacePos and calibrate
7546
calibrated. RobotPlacePos.
Camera IP address is out of current
7547 Correct the camera IP address.
subnet.
7548 Camera was not detected. Check the wiring of the camera.
Invalid Radius. Radius must be >=
7549 Correct the property value.
RadiusInner and <= RadiusOuter.
7550 OCR character does not exist. Register the OCR character.
7551 OCR option is not active. Enable the option.
Specify a name that begins with an
7572 Invalid sequence name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Specify a name that begins with an
7573 Invalid calibration name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Sequence or calibration name already
7574 Specify another calibration name.
exists.
7575 Invalid camera. Specify valid camera.
Check the vison sequence to detect the
7576 The vision target could not be found.
target
Failed to position the vision target Check the vison sequence to detect the
7577
within the specified tolerance. target
No object with a search window was Add an object to detect the target in
7578
found in the sequence. vison sequence.
7579 Invalid initial rotation angle. Specify the valid value.
7580 Invalid final rotation angle. Specify the valid value.
7581 Invalid target tolerance. Specify the valid value.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 255

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

7582 Invalid tool definition type. Specify the valid value.
7583 Invalid rotation angle. Specify the valid value.
7584 Invalid local definition type. Specify the valid value.
Adjust the focus and exposure time of
7585 Calibration plate detection failed.
the lens to show the target clearly.
7586 Focal length detection failed. Narrow down a lens diaphragm.
Adjust the focus and exposure time of
7587 Local definition scale detection failed.
the lens to show the target clearly.
Adjust the focus and exposure time of
7588 Calibration plate pose detection failed.
the lens to show the target clearly.
Specify a name that begins with an
7589 Invalid object name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Maximum move distance exceeded the Adjust the start position. Or set the
7590
limit set by VDefSetMotionRange. limit value widely.
Maximum pose difference angle
Adjust the start position. Or set the
7591 exceeded the limit set by
limit value widely.
VDefSetMotionRange.
Maximum joint angle difference
Adjust the start position. Or set the
7592 exceeded the limit set by
limit value widely.
VDefSetMotionRange.
Local definition rough camera
7596 Adjust the start position.
alignment failed.
Local definition plane could not be Adjust the vision sequence to show the
7597
calculated. calibration plate clearly.
Calibration generates points move Make the search area bigger or the target
7598
distance too small. smaller.
Calibration generate points camera to If specifying the virtual camera, specify
7599
robot relation error. the real camera.

256 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

GUI Builder.
7600 Cannot execute a GUI Builder statement -
from the command window.
GUI Builder. Correct the parameter to the proper
7602
GSet parameter is too long. length.
GUI Builder.
7603 Check the number of parameters.
Too many parameters for GGet.
GUI Builder.
7604 Not enough data for GGet statement Specify the variable.
variable assignment.
GUI Builder.
The event task cannot be executed. The system can be operated by
7610
System in pause state and changing EventTaskType to “NoPause”
EventTaskType is Normal.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7611 changing EventTaskType to
Safeguard is open and EventTaskType is
“NoEmgAbort”
Normal.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7612 changing EventTaskType to
Estop is active and EventTaskType is not
“NoEmgAbort”
NoEmgAbort.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7613 changing EventTaskType to
System in error state and EventTaskType
“NoEmgAbort”
is not NoEmgAbort.
GUI Builder.
7650 Specify the valid property.
Invalid property.
GUI Builder.
7651 Specify the valid form.
Invalid form.
GUI Builder.
7652 Specify the valid control.
Invalid control.
GUI Builder. Modify the program to avoid double
7653
The specified form is already open. launch.
GUI Builder. Check the function name set for the
7654
Event function does not exist. event.
GUI Builder.
7655 Specify the valid item.
Item does not exist.
GUI Builder. Check the property value and specify
7656
Invalid property value. the valid value.
Security. Contact the administrator to register the
7700
Invalid user. user.
Security.
7701 Check the password.
Invalid password.
Security. Contact the administrator to set
7702
Permission denied. authority.
Security.
7703 Register the options.
Option not active.
Source and destination cannot be the
7710 Specify another destination.
same.

7711 Point file name is used by another robot. Check the point file name.

Check whether the specified axis is

7712 Invalid axis specified. valid. Check if the axis is specified
correctly.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 257

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

7713 Option not enabled Enable the option.
7714 File not found. Specify the correct file name.
Robot number is out of the available
7715 Check the robot number.
range.
7716 Robot does not exist. Check whether the robot is registered.
7717 File Error. Invalid folder. Check the folder name.

7750 Simulator. Initialization failure. Reboot the RC+.

7751 Simulator. Failed to save the objects. Reboot the RC+.

7752 Simulator. Failed to load the objects. Reboot the RC+.

Simulator. Failed to mapping of

7753 Reboot the RC+.
memory.
Name of the virtual controller may be
Simulator. The virtual controller already
7754 duplicated. Check the controller
exists.
name.
Simulator. Failed to create the virtual
7755 Reboot the RC+.
controller connection information.
Simulator. The copy source of the virtual
7756 Check the virtual controller name.
controller does not exist.
Name of the virtual controller may be
Simulator. The copy destination of the
7757 duplicated. Check the controller
virtual controller already exists.
name.
Simulator. Failed to copy the virtual
7758 Reboot the RC+.
controller connection information.
Simulator. Failed to delete the virtual
7759 Reboot the RC+.
controller connection information.
Simulator. Failed to delete the controller
7760 Reboot the RC+.
connection information.
Simulator. Failed to rename the
7761 Check the virtual controller name.
controller connection information.
Simulator. The rename source of the
7762 Check the virtual controller name.
virtual controller does not exist.
Simulator. The rename destination of the
7763 Check the virtual controller name.
virtual controller already exists.

7764 Simulator. Invalid Robot number. Reboot the RC+.

Simulator. Failed to read the Robot

7765 Check if the definition file exists.
definition file.
Simulator. Failed to copy the layout
7766 Reboot the RC+.
objects.
Simulator. Failed to cut the layout
7767 Reboot the RC+.
objects.
Simulator. Failed to paste the layout
7768 Reboot the RC+.
objects.
7769 Simulator. Failed to remove the Robot. Reboot the RC+.
Simulator. Robot or Object was not
7773 Specify Robot or Object.
specified.
Simulator. Duplicated Robot name or Change the Robot name or Object name
7774
Object name. so that it does not duplicate.
Simulator. Could not find Robot. Check whether the Robot is set or check
7775
the Robot name.

258 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Simulator. Could not find Object. Check whether the Object is set or
7776
check the Object name.
Simulator. Could not find Hand. Check whether the Hand is set or check
7777
the Hand name.
Simulator. The specified object is
7778 Unregister the Part.
already registered as a Part object.
Simulator. The specified object is not
7779 Specify the object set for the Part.
Part object
Simulator. Could not find the specified
7780 Specify the set Tool.
Tool.
Simulator. Child object can not be
7781 Change to parent object.
picked.
Simulator. Parent objects can not be
Unregister as Part, Mounted Device or
7782 specified for Part, Mounted Device, or
Mobile Camera.
Mobile Camera
7783 Simulator. Robot can not be specified. Specify an Object other than Robot.
Simulator. The same object can not be
7784 Specify another object.
specified as a parent object.
Simulator. Child object can not be
7785 Changet to parent object.
specified as parent object.
Simulator. The specified object is
7786 Specigy another object.
already registered as a parent object.
7787 Simulator. Specified value is invalid. Check the set value.
Simulator. Specified variable type is
7788 Check the variable type.
invalid.
7789 Simulator. Object can not be specified. Specify the Robot.
7790 Simulator. Hand can not be specified. Specify an object other than Hand.
7791 Simulator. Camera can not be specified. Specift an object other than Camera.
Data cannot be changed, because it is not
7800 -
data of PG axis.
7801 Invalid joint number was specified. -
7802 The robot type is invalid. -
7803 The parameter is invalid. -
7804 The robot number is invalid. -
MCD failure.
7805 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
7806 Restore the controller configuration.
Failed to read the MCD file.
MCD failure.
7807 Restore the controller configuration.
Failed to save the MCD file.
MCD failure.
7808 Restore the controller configuration.
Failed to create the MCD file.
MCD failure.
7809 Restore the controller configuration.
Failed to write the MCD file.
MPL failure.
7810 Reinstall the firmware.
Failed to open the MPL file.
MPL failure.
7811 Update the firmware.
Failed to read the MPL file.
MPL failure. 1. Reboot the controller.
7812
Failed to write the MPL file. 2. Reinstall the firmware.
IFS failure.
7815 Restore the controller configuration.
Failed to open the IFS file.
IFS failure.
7816 Restore the controller configuration.
Failed to read the IFS file.
IFS failure.
7817 Restore the controller configuration.
Failed to write the IFS file.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 259
Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

MTR failure. 1. Reboot the controller.
7822
Failed to read the MTR file. 2. Reinstall the MT.
MTR failure.
7824 Reboot the controller.
Failed to save the MTR file.
PRM failure.
7825 Restore the controller configuration.
Failed to create the PRM file.
PRM failure.
7827 Restore the controller configuration.
Failed to read the PRM file.
PRM failure.
7829 Restore the controller configuration.
Failed to save the PRM file.
File failure. 1. Reboot the controller.
7830
Cannot access the file. 2. Reinstall the firmware.
7831 The motor type is invalid. Check the motor amplifier.
MCD failure.
7840 Reboot the controller.
Area allocate error.
Reboot the controller.
7845 FGI failure. Failed to open the FGI file. - -
Reinstall the firmware.
MDL failure. Failed to open the MDL Reboot the controller.
7847 - -
file. Reinstall the firmware.
MDL failure. Failed to read the MDL Reboot the controller.
7848 - -
file. Reinstall the latest firmware version.
7900 Fieldbus not installed. -
7901 Fieldbus invalid parameter. -
Check the connection of the
communication cable for the fieldbus.
Check whether the communication
7902 Fieldbus line defect. cable for the fieldbus is powered. (if
the fieldbus requires power supply)
Check the connection of the fieldbus
slave.
Check that the fieldbus master board is
installed.
7903 Fieldbus device not configured. Reboot the computer where the fieldbus
master board is installed.
Replace the fieldbus master board.
Check that the fieldbus master board is
installed.
7904 Fieldbus invalid board. Reboot the computer where the fieldbus
master board is installed.
Replace the fieldbus master board.
7905 Fieldbus connection denied. -
Check that the fieldbus master board is
installed.
7906 Fieldbus invalid device configuration. Reboot the computer where the fieldbus
master board is installed.
Replace the fieldbus master board.
Check that the fieldbus master board is
installed.
7907 Fieldbus general error. Reboot the computer where the fieldbus
master board is installed.
Replace the fieldbus master board.
7908 Fieldbus configuration error. Check the fieldbus master setting.
Register the slave to the fieldbus master
7909 Fieldbus slaves were not detected. by accompanying applicomIO Console
application.
7950 Force sensing. Invalid force sensor. -

260 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

7951 Force sensing. Invalid force sensor axis. -
7952 Force sensing. Sensor read failed. -
Force sensing. Sensor initialization
7953 -
failed.
7954 Force sensing. Sensor not initialized. -
Force sensing. Force or torque exceeded
7955 -
saturation level.
7975 Force Guide. Value out of range. -
7976 Force Guide. Invalid property value. -

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 261

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Emergency stop circuit failure Check whether no disconnection,
was detected. Disconnection or earth fault, or short-circuit of the
9001
other failure was found in one of emergency stop input signal exits.
the redundant inputs. Then reboot the controller.
Safeguard circuit failure was
Check whether no disconnection,
detected.
earth fault, or short-circuit of the
9002 Disconnection or other failure
safeguard input signal exits. Then
was found in one of the
reboot the controller.
redundant inputs.
This is likely because of the
controller hardware failure. Check
Initialization failure.
9003 the wiring is correct. If the error is
Failed to initialize the firmware.
not cleared after the controller is
rebooted, contact us.
The number of set Drive Unit(s)
disagrees with the number of
Initialization failure. recognized Drive Unit(s). Check the
Failed to initialize the DU. wirings of power supply and between
9004
Check the DU power and the Control Unit and Drive Unit are
connection. correct. If the error is not cleared
after the controller is rebooted,
contact us.
This is likely because of the Drive
Initialization failure. Unit hardware failure. Check the
9005 Failed to initialize the DU. wiring is correct. If the error is not
Check the connection. cleared after the controller is
rebooted, contact us.
Initialization failure.
Failed to initialize the Remote
9006 Check the Remote I/O setting value
I/O.
Check the Remote I/O setting.

262 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

2847: DSW setting error
2848: Force Sensor I/F unit is
not connected
2849: Initialization failure
2850: Initialization failure
2851: Force Sensor is
inconsistent
2852: Force Sensor is not
connected
2853: Software update for
Force Sensor I/F unit failed
2854: Software update for
Force Sensor I/F unit failed
2855: Software update for
Error 2847 to 2857, 2880 to
Force Sensor I/F unit failed
2887 of the Force Sensor I/F unit
Error 2847-2857, 2880 to 2887 of 2856: Non supported version
(board) or Force Sensor occurs
Force Sensor I/F unit (board) or the error
Note 1: Detailed error
9007 Force Sensor has occurred. 2857: Robot is not connected
information
Please confirm the system history, 2880: Initialization failure of
Following the detailed error
and take a relevant countermeasure. the Force Sensor I/F board
information, take a relevant
2881: Initialization failure of
countermeasure.
the Force Sensor I/F board
2882: Board detection failure
of the Force Sensor I/F board
2883: Board detection failure
of the Force Sensor I/F board
2884: Initialization failure of
the Force Sensor I/F board
2885: Sensor detection which
cannot be used
2886: Initialization failure of
the Force Sensor I/F board
2887: Use Force Sensor I/F
board and Force Sensor I/F
unit at the same time
Battery voltage of the CPU Replace the battery for the CPU
board backup is lower than the board immediately. Keep the
9011
specified voltage. Replace the controller ON as long as possible
CPU board battery. until the battery is replaced.
5V input voltage for CPU board If normal voltage is not generated by
9012 is lower than the specified 5V power supply alone, replace the
voltage. power supply.
24 V input voltage for the motor If normal voltage is not generated by
9013 brake, encoder and fan is lower 24V power supply alone, replace the
than the specified voltage. power supply.
Stop the controller as soon as possible
and check whether the ambient
Internal temperature of the
temperature of the controller is not Boundary
9014 Controller is higher than the Current value
high. value
specified temperature.
Check whether the filter is not
clogged up.
Speed of the controller fan is Check whether the filter of the
Boundary
9015 below the specified speed. controller is not clogged up. Current value
value
(FAN1) Replace the fan.
Speed of the controller fan is Check whether the filter of the
Boundary
9016 below the specified speed. controller is not clogged up. Current value
value
(FAN2) Replace the fan.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 263

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Stop the controller as soon as possible
and check whether the ambient
Internal temperature of the
temperature of the controller is not
9017 Controller is higher than the
high.
specified temperature.
Check whether the filter is not
clogged up.
DU1 3.3V input voltage for the If normal voltage is not generated by
9021 board is lower than the minimum 3.3V of Drive Unit 1 power supply
allowed voltage. alone, replace the power supply.
DU1 5V input voltage for the If normal voltage is not generated by
9022 board is lower than the minimum 5V of Drive Unit 1 power supply
allowed voltage. alone, replace the power supply.
DU1 24 V input voltage for the If normal voltage is not generated by
9023 motor brake, encoder and fan is 24V of Drive Unit 1 power supply
lower than the specified voltage. alone, replace the power supply.
Stop the Drive Unit 1 as soon as
possible and check whether the
DU1 Internal temperature of the
ambient temperature of the controller
9024 Controller is higher than the
is not high.
allowed temperature.
Check whether the filter is not
clogged up.
DU1 Rotating speed of the Check whether the filter of the Drive
9025 controller fan is below the Unit 1 is not clogged up. Replace
allowed speed. (FAN1) the fan.
DU1 Rotating speed of the Check whether the filter of the Drive
9026 controller fan is below the Unit 1 is not clogged up. Replace
allowed speed. (FAN2) the fan.
DU2 3.3V input voltage for the If normal voltage is not generated by
9031 board is lower than the minimum 3.3V of Drive Unit 2 power supply
allowed voltage. alone, replace the power supply.
DU2 5V input voltage for the If normal voltage is not generated by
9032 board is lower than the minimum 5V of Drive Unit 2 power supply
allowed voltage. alone, replace the power supply.
DU2 24 V input voltage for the If normal voltage is not generated by
9033 motor brake, encoder and fan is 24V of Drive Unit 2 power supply
lower than the specified voltage. alone, replace the power supply.
Stop the Drive Unit 2 as soon as
possible and check whether the
DU2 Internal temperature of the
ambient temperature of the controller
9034 Controller is higher than the
is not high.
allowed temperature.
Check whether the filter is not
clogged up.
DU2 Rotating speed of the Check whether the filter of the Drive
9035 controller fan is below the Unit 2 is not clogged up. Replace
allowed speed. (FAN1) the fan.
DU2 Rotating speed of the Check whether the filter of the Drive
9036 controller fan is below the Unit 2 is not clogged up. Replace
allowed speed. (FAN2) the fan.
DU3 3.3V input voltage for the If normal voltage is not generated by
9041 board is lower than the minimum 3.3V of Drive Unit 3 power supply
allowed voltage. alone, replace the power supply.
DU3 5V input voltage for the If normal voltage is not generated by
9042 board is lower than the minimum 5V of Drive Unit 3 power supply
allowed voltage. alone, replace the power supply.
DU3 24 V input voltage for the If normal voltage is not generated by
9043 motor brake, encoder and fan is 24V of Drive Unit 3 power supply
lower than the specified voltage. alone, replace the power supply.

264 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Stop the Drive Unit 3 as soon as
possible and check whether the
DU3 Internal temperature of the
ambient temperature of the controller
9044 Controller is higher than the
is not high.
allowed temperature.
Check whether the filter is not
clogged up.
DU3 Rotating speed of the Check whether the filter of the Drive
9045 controller fan is below the Unit 3 is not clogged up. Replace
allowed speed. (FAN1) the fan.
DU3 Rotating speed of the Check whether the filter of the Drive
9046 controller fan is below the Unit 3 is not clogged up. Replace
allowed speed. (FAN2) the fan.
Initialization failure.
9100 Reboot the controller.
Failed to allocate memory.
9101 Message queue has become full. -
(When RTU is selected)
Check whether the selected port is
Initialization failure. installed.
9102
Failed to initialize Modbus. (When TCP is selected)
Check whether the selected port
number is used by other
Initialization failure. If the manipulator is specified, check
9103 Failed to initialize the user whether the specified manipulator is
output. registered.
Remote User Output failure.
9104 Specified command cannot be Check the condition expression.
executed.
The module is broken or the
The Fieldbus I/O driver is in an
9233 controller software is damaged.
abnormal state.
Restore the controller firmware.
The module is broken or the
Fieldbus I/O driver initialization
9234 controller software is damaged.
failure.
Restore the controller firmware.
RAS circuit detected a servo
system malfunction. Reboot
Check the noise countermeasures.
9610 the controller.
Replace the DMB.
Check for noise. Replace the
controller.
Servo CPU internal RAM
failure. Reboot the controller. Check the noise countermeasures.
9611
Check for noise. Replace the Replace the DMB.
DMB.
RAM for the main and servo
CPU communication failure. Check the noise countermeasures.
9612
Reboot the controller. Check Replace the DMB.
for noise. Replace the DMB.
Reboot the controller.
Servo CPU internal RAM
Check the noise countermeasures.
failure. Reboot the controller.
9613 Replace the DMB.
Check for noise. Replace the
For T series, it is not DMB but CPU
DMB.
board.
Initialization communication of Reboot the controller.
main CPU and servo CPU Check the noise countermeasures.
9614 failure. Reboot the Controller. Replace the DMB.
Check for noise. Replace For T series, it is not DMB but CPU
DMB. board.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 265

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Initialization communication of
the main and servo CPU failure. Check the noise countermeasures.
9615
Reboot the controller. Check Replace the DMB.
for noise. Replace the DMB.
Reboot the controller.
Communication of the main and
Check the noise countermeasures.
servo CPU failure. Reboot the
9616 Replace the DMB.
controller. Check for noise.
For T series, it is not DMB but CPU
Replace the DMB.
board.
Communication of the main and Reboot the controller.
servo CPU failure. Reboot the Check the noise countermeasures.
9617 controller. Replace the DMB.
Check for noise. Replace the For T series, it is not DMB but CPU
DMB. board.
Servo long time command Check the noise countermeasures.
9618
overrun. Replace the DMB.
Servo long time command check Check the noise countermeasures.
9619
sum error. Replace the DMB.
Reboot the controller.
System watchdog timer detected
Check the noise countermeasures.
a failure. Reboot the controller.
9620 Replace the DMB.
Check for noise. Replace the
For T series, it is not DMB but CPU
DMB.
board.
Check the noise countermeasures.
9621 Drive unit check failure.
Replace the DMB.
RAM failure of the servo CPU.
Check the noise countermeasures.
9622 Reboot the controller. Check
Replace the DMB.
for noise. Replace the DMB.
Failure of the redundant circuitry
Check the noise countermeasures.
9623 for the emergency stop or the
Replace the DMB.
safeguard. Check the wiring.
Low voltage of the main circuit
power supply was detected. Check the noise countermeasures.
9624
Check the power supply voltage. Replace the DMB.
Reboot the controller.
Control relay contact of the main
9625 circuit power supply is welded Replace the DMB.
closed. Replace the DPB.
Reboot the controller, take the
Detect the recognition mismatch
9626 measure against noise, or replace the
of the sub CPU and main CPU.
CPU board.
Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion, loose
Temperature of regeneration
belt tension, brake)
9627 resistor was higher than the
Check the interference with the
specified temperature.
peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable connection.

9628 Over voltage of the sub CPU. Replace the DPB board.

Reboot the controller.

Servo real time status failure.
9630 Replace the DMB.
Check sum error.
Check the noise countermeasures.

266 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Reboot the controller.
Servo real time status failure.
9632 Replace the DMB.
Servo free running counter error
Check the noise countermeasures.
Servo real time status failure. Reboot the controller.
9633 Servo CPU communication Replace the DMB.
error. Check the noise countermeasures.
Irregular motion control Reboot the controller.
9640 interruption was detected. Replace the DMB.
Interruption duplicate. Check the noise countermeasures.
Data sending failure in motion Check the connection of the cable for
9691
network. Drive Unit.
Data receiving failure in motion Check the connection of the cable for
9692
network. Drive Unit.
Check connection of the Force Sensor
Data sending failure of Force
I/F board and Force Sensor.
Sensor I/F board.
Reboot the controller.
9697 Check connection of the Force
Please inquire with us if a similar
Sensor I/F board and Force
error occurs even after the above
Sensor.
countermeasures are taken.
Check connection of the Force Sensor
Data receiving failure of Force
I/F board and Force Sensor.
Sensor I/F board.
Reboot the controller.
9698 Check connection of the Force
Please inquire with us if a similar
Sensor I/F board and Force
error occurs even after the above
Sensor.
countermeasures are taken.
Check the short-circuit and improper
connection of the peripheral
equipment wiring. (Emergency and
I/O connectors)
Servo control gate array failure. Replace the DMB.
9700
Check the DMB. Replace the additional axis unit.
For T series, reboot the controller,
take the measure against noise, and
replace the CPU board and motor
unit.
Check the M/C cable signal.
Check the robot signal wiring.
(Missing pin, disconnection,
short-circuit)
Replace the motor. (Encoder failure)
Replace the DMB. (Detection circuit
failure)
Disconnection of the parallel Check the connector connection in
encoder signal. Check the the controller. (Loosening, connecting
9701
signal cable connection or the to the serial encoder terminal on the
robot internal wiring. DMB)
Check the model setting. (Improperly
setting of the parallel encoder)
Check the peripheral equipment
wiring. (Emergency and I/O)
For T series, reboot the controller,
take the measure against noise, and
replace the motor unit.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 267

Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Check whether the motor driver is
mounted.
Check the model setting and
Motor driver is not installed.
hardware setting.
9702 Install the motor driver. Check
Replace the motor driver.
the DMB or the motor driver.
Replace the DMB.
For T series, check the wiring of the
motor unit.
Check the model setting.
Replace the motor. (Encoder failure)
Initialization communication
Replace the DMB.
failure of incremental encoder.
9703 For T series, reboot the controller,
Check the signal cable
take the measure against noise, and
connection and the robot setting.
replace the CPU board and motor
unit.
Check the model setting.
Initialization failure of absolute Replace the motor. (Encoder failure)
encoder. Replace the DMB.
9704
Check the signal cable For T series, reboot the controller,
connection or the robot setting. take the measure against noise, and
replace the motor unit.
Encoder division setting failure.
9705 Check the model setting.
Check the robot setting.
Replace the motor. (Encoder failure)
Data failure at the absolute Replace the DMB.
encoder initialization. Check Check the noise countermeasures.
9706
the signal cable connection, the For T series, reboot the controller,
controller, or the motor. take the measure against noise, and
replace the motor unit.
Absolute encoder multi-turn is
Reset the encoder.
9707 beyond the maximum range.
Replace the motor. (Encoder failure)
Reset the encoder.
Reset the encoder.
Position is out of the range.
9708 Replace the DMB.
Reset the encoder.
Replace the motor. (Encoder failure)
No response from the serial Check the model setting. (Improperly
encoder. setting of the parallel encoder model)
9709 Check the signal cable Check the signal cable connection.
connection, the motor, the DMB, Replace the DMB and encoder I/F
or the encoder IF board. board.
Check the robot configuration.
Serial encoder initialization Check the signal cable.
failure. Replace the DMB and encoder I/F
9710 Reboot the controller. Check the board.
motor, the DMB, or the encoder For T series, reboot the controller,
IF board. take the measure against noise, and
replace the motor unit.
Check the robot configuration.
Serial encoder communication Check the signal cable.
failure. Replace the DMB and encoder I/F
9711 Reboot the controller. Check board.
the motor, the DMB, or the For T series, reboot the controller,
encoder IF board. take the measure against noise, and
replace the motor unit.

268 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

Replace the DMB.
Servo CPU watchdog timer Check the noise countermeasures.
failure. For T series, check the connection of
9712
Reboot the controller. Check the signal cable. Reboot the
the motor or the DMB. controller, take the measure against
noise, and replace the motor unit.
Check the power cable connection.
Check the 15V power supply and
Current control circuit WDT cable connection.
failure. Replace the DMB.
9713
Reboot the controller. Check Check the noise countermeasures.
the controller. For T series, reboot the controller,
take the measure against noise, and
replace the motor unit.

Check robot setting.

9714 The DMB is not for this robot.
Replace with the supported DMB.

Encoder is reset. Reboot the

9715 Reboot the controller.
controller.
Power supply failure of the
absolute encoder. Replace the Reset the encoder.
9716
battery to a new one. Check the Check the signal cable connection.
robot internal wiring.
Backup data failure of the
Reset the encoder.
9717 absolute encoder. Reset the
Check the signal cable connection.
encoder.
Replace the battery.
9718 Absolute encoder battery alarm.
Check the signal cable connection.
Reset the encoder.
Position failure of the absolute
Replace the motor. (Encoder failure)
encoder.
9719 For T series, reboot the controller,
Reset the encoder. Replace the
take the measure against noise, and
motor.
replace the motor unit.
Reboot the controller.
Reset the encoder.
Speed is too high at controller For T series, reboot the controller,
9720 power ON. Stop the robot and take the measure against noise, and
reboot the controller. replace the motor unit.
Check the interference with the other
devices.
Lower the motion duty.
9721 Absolute encoder over heat. Wait until the temperature of the
encoder decreases.
Resets the encoder.
R/D transducer failure. Reset the Check the signal wiring of the
9722 encoder. Check resolver board or manipulator (loose pin,
the robot internal wiring. disconnection, short).
Replace the resolver board.
Check for the signal cable
connection.
G sensor communication failure. Check the signal wiring of the
Check the signal cable manipulator (loose pin,
9723
connection or the robot internal disconnection, short).
wiring. Check the noise countermeasure.
Replace the control board.
Replace the DMB.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 269
Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

G sensor data error.
9724 Replace the control board.
Check for the control board.
The multi rotational data and the Reset the resolver
9725 R/D conversion data is different. Check the noise countermeasure.
Reset the encoder. Replace the resolver board.
Disconnection of the resolver
Check the signal wiring of the
excitation signal. Reset the
manipulator (loose pin,
9726 encoder. Check the resolver
disconnection, short).
board or the robot internal
Replace the resolver board.
wiring.
Reboot the Controller.
S-DSP communication failure.
9727 Check the noise countermeasure.
Check the DMB.
Replace the DMB.
Reboot the Controller.
Check the noise countermeasure.
Replace the DMB.
Current feedback data failure.
9728 For T series, check the short-circuit
Check the DMB.
and earth fault of the power cable.
Reboot the controller or replace the
motor unit.
Reboot the Controller.
D-DSP communication failure.
9729 Check the noise countermeasure.
Check the DMB.
Replace the DMB.
Speed is too high at controller Reset the encoder.
9730
power OFF. Reset the encoder. Replace the motor.
Reset the encoder. Replace the motor.
Speed is too high. Reset the
9731 For T series, reboot the controller and
encoder.
replace the motor unit.
9732 Servo alarm A. -

270 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

No. Message Remedy Note 1 Note 2

10000 Command aborted by user -
10001 Command timeout. -
10002 Bad point file line syntax -
10003 Project could not be built. -
10004 Cannot initialize Spel class instance. -
10005 Cannot initialize parser. -
10006 Cannot initialize wbproxy. -
Check whether the project name
10007 Project does not exist.
and the path are correct.
10008 No project specified. Specify the project.
Check whether the project name
10009 Cannot open file.
and the path are correct.
10010 Cannot create file. -
Check whether the project name
10011 File not found
and the path are correct.
Cannot execute LoadPoints with Robot Close the robot manager and
10013
Manager open. execute.
Project cannot be locked. It is being used
10014 Terminate other applications.
by another session.
10015 Project could not be synchronized. -
Check whether the drive
10016 Drive not ready
designation is correct.
10017 Invalid IP address Check the IP address.
10018 Invalid IP mask Check the IP mask.
10019 Invalid IP gateway Check the IP gateway.
IP address or gateway cannot be the subnet
10020 Check the IP address.
address.
IP address or gateway cannot be the
10021 Check the IP address.
broadcast address.
10022 Invalid DNS address Check the DNS.
Commands cannot be executed because Execute after the project build is
10023
the project build is not complete. completed.
10024 Invalid task name. Check the task name.
10100 Command already in cycle. -
10101 Command aborted by user. Execute ResetAbort.
10102 Invalid server instance. Specify the correct instance.
10103 Invalid CommandTask value. Specify the correct task number.
Cannot change ServerInstance after Set ServerInstance before
10104
initialized. initialization.
10501 Connection aborted. -
10502 Cannot connect with the controller. -
Controller firmware is not compatible with
10503 Upgrade the RC+ version.
this version of RC+.
USB connection of this system is reserved
Install the RC+7.0 to another
10504 for the RC620 Controller and cannot be
computer.
used for RC+7.0.
10505 The specified connection does not exist. Check the connection number.
10600 Frame grabber driver not installed. Install the driver.

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Maintenance 9. Troubleshooting

9.2 Cannot Connect the Development PC and the Controller

using the USB cable
■ Do not connect the USB cable to a PC or a Controller without installing Program
Development Software EPSON RC+ 7.0 to the PC.
You must install EPSON RC+ 7.0 to control the Controller.
If the USB cable is connected to a PC or a Controller without installing Program
CAUTION
Development Software EPSON RC+ 7.0, the [Add New Hardware] wizard
appears. Click the <Cancel> button to close the [Add New Hardware] wizard..

- If the following error message appears when connecting the development PC and
Controller with the USB cable and connecting the Controller to EPSON RC+ 7.0,
Windows may not recognize the Controller properly. Refer to Maintenance 9.2.1
Confirmation Using Windows Device Manager to check the connection of the Controller.

“Cannot connect to controller

!! Error: 1805, Connection Failure. Check the controller startup and connection of the
communication cable.””

- Note that the driver name will be registered as “EPSON Robot Controller RC170” when
you connect with the Controller RC90/RC90-B.

272 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

9.2.1 Confirmation Using Windows Device Manager

(1) Make sure that the development PC and the Controller is connected to the USB cable.
NOTE When checking the Controller connection using the Windows device manager, the
 development PC and the Controller must be connected with the USB cable.
(2) Click Windows-[Control Panel]-<Performance and Maintenance>.

(3) The [Performance and Maintenance] dialog appears.

Click the <System> icon.

(4) The [System Properties] dialog appears.

Select the [Hardware] tab and click the <Device Manager> button.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 273

Maintenance 9. Troubleshooting

(5) The [Device Manager] dialog appears.

Click <Universal Serial Bus controllers> and make sure that “EPSON Robot
Controller RC170” is registered.

NOTE When “EPSON Robot Controller RC170” is registered and located under “Universal
 Serial Bus controllers” in step (5), the development PC and the Controller connect
properly.
If the following error message appears, please contact EPSON.
“Cannot connect to controller.
!! Error: 1805, Connection failure, check the controller startup and connection of the
communication cable.”
If “EPSON Robot Controller RC170” is not located under “Universal Serial Bus
controllers” but located under “Other devices” in step (5), refer to Maintenance 9.2.2
When recognized under “Other devices” in Windows Device Manager.

274 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 9. Troubleshooting

9.2.2 When recognized under “Other devices” in Windows Device Manager

If “EPSON Robot Controller RC170” is recognized under “Other devices” in the Windows
device manager as shown in the following dialog, delete “EPSON Robot Controller
RC170” from the device manager and connect the USB cable again to correct the problem.

(1) Select and right click “EPSON Robot Controller RC170” in the [Device Manager]
dialog.
(2) Select [Uninstall].
(3) The [Confirm Device Removal] dialog appears.
Click the <OK> button.

(4) Remove the USB cable and connect the USB cable again. The following message
appears at the right bottom of the Windows screen.

(5) When the Controller is installed automatically and the following message appears, the
communication is available.

NOTE

 If the problem is not corrected, please contact EPSON.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.20 275

Maintenance 10. Maintenance Parts List

10. Maintenance Parts List

For RC90
Part Name Code Note
10A/10A 2172039 For LS3, LS6
Motor Driver 15A/15A-2 2168582 For LS20 (Joint #3, #4)
30A/30A R13NZ90002 For LS20 (Joint #1, #2)
2173220 For LS3, LS6
DPB
2171263 For LS20

The parts differ depending on the Controller serial numbers.

If you need the parts, please confirm the Controller serial number before contact us.
Controller
Part Name Code Note
serial number
SOURCE 2189442 R9V303****
R9V303****
SINK 2189441 R9V603****
R9V603**** DMB
R9V201**** SOURCE 2195265
R9V201****
or later SINK 2195266
DMB Sub Board 2176569
CF (Compact Flash) 2191240
R9V300**** R9V300****
R9V301**** SOURCE 2180966 R9V301****
R9V302**** R9V302****
R9V600**** R9V600****
DMB
R9V601**** SINK 2180967 R9V601****
R9V602**** R9V602****
R9V200**** SOURCE 2195263
R9V200****
SINK 2195264
DMB Sub Board 2176569
CF (Compact Flash) R13N8B6021
R9S2****** SOURCE 2180936
DMB Common with
R9S3****** SINK 2180937 EPSON RC+5.0
R9S6****** DMB Sub Board R13B040209
A9S2****** CF (Compact Flash) R13N8B6021

Reference: Following are the maintenance parts for EPSON RC+5.0 users.
Controller
Part Name Code Note
serial number
SOURCE 2180936
RC9E****** DMB Common with
SINK 2180937 EPSON RC+7.0
R9E6******
DMB Sub Board R13B040209
CF (Compact Flash) R13B110607

276 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20

 Maintenance 10. Maintenance Parts List

For RC90-B

Part Name Code Note

2190402 For LS10-B
DMB
2197075 For LS6-B
DMB 2190403
2197025 For LS10-B
DPB
2197024 For LS6-B
30A/15A 2191087 For LS10-B (Joint #1, #2)
Motor Driverー 15A/15A-2 2194709 For LS10-B (Joint #3, #4)
10A/10A 2195536 For LS6-B
CF (Compact Flash) 2197078

Part Name Code Note

DMB 2190402
DMB Sub Board 2190403
DPB 2197025
30A/15A 2191087
Motor Driver
15A/15A-2 2194709
CF (Compact Flash) 2197078

For RC90 / RC90-B

Part Name Code Note

Fan R13B060510
R13B060511 Black (While stock lasts)
Fan Filter
2195107 White
Battery R13B060003
TP/OP Bypass Plug R13B060705

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Maintenance 10. Maintenance Parts List

Option
Part Name Code Note
Expansion Source type R12B040302
I/O Board Sink type R12B040303
RS-232C Board R12B040726
DeviceNet module is mounted
DeviceNet Board R12B040727
on the Fieldbus Board.
Profibus module is mounted
PROFIBUS Board R12B040729
on the Fieldbus Board.
CC-Link module is mounted
CC-Link Board R12B040730
on the Fieldbus Board.
PROFINET module is mounted
PROFINET Board R12N747056
on the Fieldbus Board.
EtherNet/IP module is mounted
EtherNet/IP Board R12N747061
on the Fieldbus Board.
PG Board R12N748011
EtherCAT module is mounted
EtherCAT Board R12NZ910CL
on the Fieldbus Board.
1CH R12NZ900WZ
Analog I/O Board
4CH R12NZ900X1
EUROMAP67 Board R12NZ90104
For EUROMAP67 Board
EUROMAP67 Cable1 2194667
Emergency Stop cable
For EUROMAP67 Board
EUROMAP67 Cable2 2194668
IMM Connection cable
EUROMAP67 Emergency For EUROMAP67 Board
2165789
Connector: Plug Soldering plug
EUROMAP67 Emergency For EUROMAP67 Board
2194882
Connector: Shell Shell kit

278 RC90 / RC90-B (EPSON RC+ 7.0) Rev.20