Code Number 1 ~
| No. | Message | Remedy | Note 1 | Note 2 |
|---|---|---|---|---|
| 1 | Controller control program started. | - | ||
| 2 | Termination due to low voltage of the power supply. | - | ||
| 3 | Controller control program has completed. | Stores this log when the controller is rebooted from Epson RC+ or TP1. | ||
| 4 | Preserve variables save area has been cleaned. | - | ||
| 5 | Function Main started. | - | ||
| 6 | Function Main started. Later same logs are skipped. | Skip the log "Function Main started." to 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. | - | ||
| 11 | Offset pulse value between the encoder origin and the home sensor (HOFS) is changed. | - | Value after change | Value before change |
| 17 | Message saving mode activated. | - | ||
| 18 | Conversion of Robot Parameter file has been executed. | - | ||
| 19 | DU firmware has been installed. | - | ||
| 20 | Enable setting in Teach mode has been saved. | - | ||
| 21 | Enable setting in Teach mode has been changed. | - | ||
| 23 | EStop has been executed. | - | Robot number executing motion command | Controller status |
| 24 | Safeguard has opened. | - | Robot number executing motion command | Controller status |
| 25 | Robot setting has changed. | - | 1: New addition | Robot number |
| 2: Change | ||||
| 3: Delete | ||||
| 26 | Alarm setting has changed. | - | Alarm number | |
| 27 | Safety Board issued a Main stop signal. | Check the stop signal from Note 1,2. On system history, If an unintended stop occured. | Type of stop signal Refer to the "Details of Note Information". | Details of stop signal - Safety switch - Axis - Parts - Safety input channels - Deceleration error details Refer to the "Details of Note Information". |
| 28 | Safety Board issued a Sub stop signal. | Check the stop signal from Note 1,2. On system history, If an unintended stop occured. | Type of stop signal Refer to the "Details of Note Information". | Details of stop signal - Safety switch - Axis - Parts - Safety input channels - Deceleration error details Refer to the "Details of Note Information". |
| 50 | The battery alarm for the controller was 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. | - | ||
| 101 | Console device has changed. | - | 20: TP3 21:RC+ 22:Remote I/O 26: Remote Ethernet 29: Remote RS232 | |
| 102 | Display device has changed. | - | ||
| 103 | Working mode has changed. | - | ||
| 104 | Cooperative mode has changed. | - | 0: Independent 1: Cooperative | |
| 110 | Controller firmware has been installed. | - | 1: Setup 2: Initialize 3: Upgrade 4: Recover | |
| 111 | IP address has been restored. | May store this log when the controller firmware is installed. | ||
| 112 | Controller rebooted | - | ||
| 113 | Communication was restored from the busy state. | - | ||
| 120 | RC+ connected to the Controller. | - | 1: Ethernet 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. | - | ||
| 129 | Remote Ethernet connected to the Controller | - | ||
| 130 | Remote Ethernet disconnected to the Controller | - | ||
| 131 | Remote Com connected to the Controller | - | ||
| 132 | Remote Com disconnected to the Controller | - | Logout status 0: Normal 1: Abnormal (Time-out) | |
| 133 | Working mode changed to Test. | - | ||
| 134 | Epson RC+ Express Edition connected to the Controller. | |||
| 135 | Epson RC+ Express Edition disconnected from the Controller. | |||
| 400 | The battery alarm for the controller occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | ||
| 401 | The battery alarm for the robot occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | Robot number | |
| 402 | The grease alarm occurred. Grease the robot and reset the alarm. | Grease the robot and reset the alarm. After greasing up, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | Robot number | |
| 410 | The battery alarm for the controller occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[ Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 411 | The battery alarm for the robot occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[ Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 412 | The belt alarm occurred. Replace the belt and reset the alarm. | Replace the timing belt. After replacing the timing belts, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 413 | The grease alarm for the ball screw spline occurred. Grease the ball screw spline and reset the alarm. | Grease up the ball screw spline. After greasing up, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 414 | The motor alarm occurred. Replace the motor and reset the alarm. | Replace the motor. After replacing the motor, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 415 | The gear alarm occurred. Replace the gear units and reset the alarm. | Replace the gear units. After replacing the gear units, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 416 | The ball screw spline alarm occurred. Replace the ball screw spline and reset the alarm. | Replace the ball screw spline. After replacing the ball screw spline, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 420 | The battery alarm for the controller occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[ Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 421 | The battery alarm for the robot occurred. Replace the battery and reset the alarm. | Replace the battery. After replacing the battery, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[ Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 422 | The belt alarm occurred. Replace the belt and reset the alarm. | Replace the timing belt. After replacing the timing belts, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 423 | The grease alarm for the ball screw spline occurred. Grease the ball screw spline and reset the alarm. | Grease up the ball screw spline. After greasing up, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 424 | The motor alarm occurred. Replace the motor and reset the alarm. | Replace the motor. After replacing the motor, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 425 | The gear alarm occurred. Replace the gear units and reset the alarm. | Replace the gear units. After replacing the gear units, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 426 | The ball screw spline alarm occurred. Replace the ball screw spline and reset the alarm. | Replace the ball screw spline. After replacing the ball screw spline, reset the alarm in Epson RC+ 8.0-[Tools]-[Controller]-[Maintenance]. | 1000 times of consumption rate | 1000 times of boundary value |
| 501 | Trace history is active. | Effects system performance if trace history is active. | ||
| 502 | Memory has been initialized. | When this error occurs, the value of the Global Preserve variable will be initialized. Replace the CPU board battery. Replace the CPU board. After CPU replacement, if the warning is displayed at the first startup, reboot the Controller. | ||
| 503 | Found Hard disk error. You should replace the hard disk ASAP. | This is a warning of the hard disk failure. Replace the hard disk as soon as possible. | ||
| 504 | An Error occurred on a Background Task. | Make sure there are no problems in the system and continue the operation. | ||
| 505 | Controller was rebooted. | |||
| 506 | The alarm information is not set. Set the alarm information on [Tools]-[Controller Tools]-[Alarm]. | Set the alarm information on [Tools]-[Controller Tools]-[Alarm]. | ||
| 507 | The controller is started by using the previous initial setting file since the initial setting file is corrupted. | Setting changes from the previous start may not be saved. Please check the settings. | ||
| 510 | Optimized SRAM Data. | - | ||
| 511 | Battery voltage of the CPU board backup is lower than the allowed voltage. Replace the CPU board battery. | Replace the CPU board battery immediately. Keep the power to the controller ON as far as possible until you replace the battery. | 100 times of current value | 100 times of boundary value |
| 512 | 5V input voltage for the CPU board is lower than the allowed voltage. | If normal voltage is not generated by 5V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 513 | 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by a 24V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 514 | Internal temperature of the Controller is higher than the specified temperature. | Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value |
| 515 | Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 516 | Speed of the controller fan is below the specified speed. (FAN2) | Check whether the filter is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 517 | Internal temperature of the Controller is higher than the specified temperature. | Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value |
| 518 | 54V input voltage for the CPU board is lower than the allowed voltage. | If normal voltage is not generated by 54V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 519 | 3.3V input voltage for the CPU board is lower than the allowed voltage. | If normal voltage is not generated by 3.3V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 520 | DC input voltage for CPU board is lower than or bigger than the specified voltage. | If normal voltage is not generated by DC power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 521 | DU1 3.3V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 1 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 522 | DU1 5V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 1 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 523 | DU1 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 1 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 524 | DU1 Internal temperature of the Controller is higher than the allowed temperature. | Stop Drive Unit 1 as soon as possible and check whether the ambient temperature of Drive Unit 1 is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value |
| 525 | DU1 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of Drive Unit 1 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 526 | DU1 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of Drive Unit 1 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 531 | DU2 3.3V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 2 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 532 | DU2 5V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 2 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 533 | DU2 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 2 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 534 | DU2 Internal temperature of the Controller is higher than the allowed temperature. | Stop Drive Unit 2 as soon as possible and check whether the ambient temperature of Drive Unit 2 is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value |
| 535 | DU2 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of Drive Unit 2 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 536 | DU2 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of Drive Unit 2 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 541 | DU3 3.3V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 3 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 542 | DU3 5V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 3 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 543 | DU3 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 3 power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value |
| 544 | DU3 Internal temperature of the Controller is higher than the allowed temperature. | Stop Drive Unit 3 as soon as possible and check whether the ambient temperature of Drive Unit 3 is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value |
| 545 | DU3 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of Drive Unit 3 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 546 | DU3 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of Drive Unit 3 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan. | Current value | Boundary value |
| 550 | Communication with the Compact Vision is disconnected. Check the network wiring. | Check the connection between the controller and the compact vision. | Camera No. | |
| 551 | Compact Vision CPU fan RPM has decreased. Clean the fan filter and / or replace the fan. | Check whether the fan filter of the compact vision is not clogged up. If the warning is not cleared after the controller and the compact vision are rebooted, replace the CPU fan. | Camera No. | Current value |
| 552 | Compact Vision CPU fan RPM has decreased. Clean the fan filter and / or replace the fan. | Replace the CPU fan of the compact vision. | Camera No. | Current value |
| 553 | Compact Vision chassis fan RPM has decreased. Replace the fan. | Check whether the fan filter of the compact vision is not clogged up. If the warning is not cleared after the controller and the compact vision are rebooted, replace the system fan. | Camera No. | Current value |
| 554 | Compact Vision chassis fan RPM has decreased. Replace the fan. | Replace the system fan of the compact vision. | Camera No. | Current value |
| 555 | Compact Vision CPU temperature is too high. Check the installation environment (ventilation, ambient temperature, etc.) | Check whether the fan filter of the compact vision is not clogged up. If the warning is not cleared after the controller and the compact vision are rebooted, check the installation environment (surrounding space, ambient temperature) of the compact vision. | Camera No. | 100 times of current value |
| 556 | Compact Vision CPU temperature is too high. Check the installation environment (ventilation, ambient temperature, etc.) | Check whether the fan filter of the compact vision is not clogged up. If the warning is not cleared after the controller and the compact vision are rebooted, check the installation environment (surrounding space, ambient temperature) of the compact vision. | Camera No. | 100 times of current value |
| 557 | Compact Vision backup battery voltage is low. Replace the battery. | Replace the backup battery of the compact vision. | Camera No. | 100 times of current value |
| 558 | Compact Vision backup battery voltage is low. Replace the battery. | Replace the backup battery of the compact vision. | Camera No. | 100 times of current value |
| 559 | Compact Vision process was terminated abnormally. Restart the Compact Vision unit. | If the warning is not cleared after the controller and the compact vision are rebooted, initialize the compact vision. | Camera No. | |
| 560 | Compact Vision available memory is low. Restart the Compact Vision unit. | If the warning is not cleared after the controller and the compact vision are rebooted, initialize the compact vision. | Camera No. | Current value |
| 561 | Compact Vision available disk space is low. Reduce the number of objects that use models (Geometric, Correlation, DefectFinder, etc.) | Check the vision sequence if it has unnecessary models which can be reduced. Consider to use the USB memory. | Camera No. | Current value |
| 562 | A critical hardware error occurred in the Compact Vision unit. Check the hardware condition such as internal wiring. | If the warning is not cleared after the controller and the compact vision are rebooted, initialize the compact vision. | Camera No. | |
| 563 | A critical hardware error occurred in the Compact Vision unit. Check the hardware condition such as internal wiring. | If the warning is not cleared after the controller and the compact vision are rebooted, replace the LED/SW board. | Camera No. | |
| 569 | Communication with the Compact Vision recovered. | - | Camera No. | |
| 570 | Compact Vision. Password authentication has failed. | Enter the correct Compact Vision connection password in the RC+ Camera page. If the password is unknown, you must do one of the following: a. Enter a new connection password from CV Monitor, then enter the same password in the RC+ Camera page. or b. Perform a factory reset on the Compact Vision unit to clear the password. Rebuild the current RC+ project and check operation. | ||
| 580 | OPC UA Server. Server error. | Reboot the Controller. | OPC UA Status Code (tens digit) | |
| 581 | OPC UA Server. Server log is activated. | Turn OFF the log function of OPC UA Server. Reboot the Controller. | ||
| 582 | OPC UA Server. File size of the server log is exceeded. | Turn OFF the log function of OPC UA Server. Reboot the Controller. | ||
| 590 | Detect the different of the calibration settings in the controller and Safety Board. | Do one of the following and reboot the Controller: - Execute calibration from the Controller settings. - Correct the settings of the Safety Board from the Safety Function Manager. | Axis number detected the difference at first. | Pulse value of the axis detected the difference at first. |
| 597 | The PTP motion to avoid the singularity point has completed. | PTP motion for the singularity avoidance was completed. Clicking the same jog button will operate the robot in the normal jog motion. | ||
| 598 | Robot stopped due to collision detection | Move the manipulator to the direction avoiding collision | ||
| 599 | Jogging attempted near singularity point. | The robot could not jog in the CP motion (default). Clicking the same jog button will operate the robot in the PTP motion. | ||
| 700 | Motor driver type does not match the current robot model. | Check the robot model. Replace the motor driver. | ||
| 736 | Encoder is reset. Reboot the controller. | Reboot the controller. | ||
| 737 | Low voltage from the encoder battery. Replace the battery. | Turn OFF the controller and replace the battery. For the battery replacement procedure, refer to Maintenance in the Manipulator manual. Replace the CPU board. Check the connection of the cable. | ||
| 752 | Servo alarm D. | - |