Code Number 9000 ~
| No. | Message | Countermeasure | Note 1 | Note 2 | Error Solution |
|---|---|---|---|---|---|
| 9001 | Emergency stop circuit failure detected. Disconnection or other failure was found in one of the redundant inputs. | Check for a disconnection, earth fault, or short-circuit of the emergency stop input signal, then reboot the controller. | Reboot | ||
| 9002 | Safeguard (safety fence) circuit failure detected. Disconnection or other failure was found in one of the redundant inputs. | Check for a disconnection, earth fault, or short-circuit of the safeguard (safety fence) input signal, then reboot the controller. | Reboot | ||
| 9003 | Initialization failure. Failed to initialize the firmware. | Check if the wiring is correct. If the error is not cleared after the controller is rebooted, contact us. | Reboot | ||
| 9006 | Initialization failure. Failed to initialize the Remote I/O. | Check the Remote I/O setting value. | Reboot | ||
| 9007 | Error of Force Sensor occurs. Note 1: Each error code | Force Sensor error. Please confirm Note 1 by the system history, and take a relevant countermeasure. | Error codes | Reboot | |
| 9008 | Communication between RC+ and controller was lost during calibration. | Reboot the Controller. | Error codes | Reboot | |
| 9009 | A Safety board that is not supported by the controller is connected. | Remove the Safety board and reboot the controller. | Reboot | ||
| 9010 | A board that is not supported by the controller is connected. | Remove the board and reboot the controller. | IO port | Base type | Reboot |
| 9011 | Battery voltage of the backup is lower than the allowed voltage. | Check if the backup battery is connected. | 100 times of current value | 100 times of boundary value | Reboot |
| 9012 | 5V input voltage for the MAIN board is lower than the allowed voltage. | Replace the MAIN board. | 100 times of current value | 100 times of boundary value | Reboot |
| 9013 | Motor brake, encoder and fan 24 V input voltage is lower than the specified voltage. | If normal voltage is not generated by 24V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | Reboot |
| 9014 | 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 if the filter is clogged. | 100 times of current value | 100 times of boundary value | Reboot |
| 9015 | Rotating speed of the controller fan is below the allowed speed (FAN1). | Check if the controller filter is clogged. Replace the fan. | Current value | Boundary value | Reboot |
| 9016 | Rotating speed of the controller fan is below the allowed speed (FAN2). | Check if the controller filter is clogged. Replace the fan. | Current value | Boundary value | Reboot |
| 9017 | 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 if the filter is clogged. | 100 times of current value | 100 times of boundary value | Reboot |
| 9019 | 3.3V input voltage for the MAIN board is lower than the allowed voltage. | Replace the MAIN board. | 100 times of current value | 100 times of boundary value | Reboot |
| 9020 | DC input voltage for the MAIN board is outside the allowed voltage range. | Replace the MAIN board. | 100 times of current value | 100 times of boundary value | Reboot |
| 9100 | Failed to allocate memory. | Do one of the following: - Reboot the Controller. - Update the controller firmware with the update tool. - If this error occurs repeatedly, contact us. | Reboot | ||
| 9101 | Communication with control device failed (message queue limit exceeded). | Do one of the following: - Restart the controller, control device, and connected devices. - Update the controller firmware with the update tool. - If this error occurs repeatedly, contact us. | Reboot | ||
| 9102 | Failed to initialize Modbus settings. | Do one of the following: - Check if the selected port is installed (when RTU is selected). - Check if the selected port number is used by another device (when TCP is selected) | Reboot | ||
| 9103 | Failed to initialize the user defined Remote I/O. | If the manipulator is specified, check if it is registered. | Reboot | ||
| 9104 | Failed to execute the user defined Remote I/O. | Do the following in order. 1. Review the expression in Epson RC+ [System Configuration] - [Controller] - [Remote] - [User Output]. 2. Reboot. 3. Execute again. | Reboot | ||
| 9105 | A TP that is not supported by the controller is connected. | Remove the TP and reboot the Controller. | 1: TP12: TP23: TP3 | Reboot | |
| 9106 | The upgrade license deadline does not match. | Contact your supplier and update the upgrade license. | Reboot | ||
| 9107 | The controller power source has degraded. | Controller power source degradation detected. - Please contact the supplier of your region. | Reboot | ||
| 9233 | The Fieldbus I/O driver is in an abnormal state. | The module is broken or the controller software is damaged. Restore the controller firmware. | Reboot | ||
| 9234 | Failed to initialize fieldbus I/O. | The module is broken or the controller software is damaged. Restore the controller firmware. | Reboot | ||
| 9610 | RAS circuit detected a servo system failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9611 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9612 | Communication RAM failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9613 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9614 | Initialization communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9615 | Initialization communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9616 | Communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9617 | Communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9618 | Servo long time command overrun. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9619 | Servo long time command checksum error detected. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9620 | System watchdog timer detected a failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9621 | Drive unit check failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | - | ||
| 9622 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 9623 | Emergency stop/safeguard (safety fence) redundancy circuit failure. | Check the wiring of the emergency stop or the safeguard (safety fence). | Reboot | ||
| 9624 | Low voltage detected at main circuit power source. | Do one of the following: - Check the power supply voltage. - Reboot the Controller. | Reboot | ||
| 9625 | Main circuit power supply control relay contact is welded. | Replace the DPU. | Reboot | ||
| 9630 | Servo real time status failure. Checksum error detected. | A data checksum error was detected in the controller. Do one of the following: - Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) - Replace the controller. | Reboot | ||
| 9632 | Servo real time status failure. Servo free running counter error. | A free running counter error was detected in the controller. Do one of the following: - Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) - Replace the controller. | Reboot | ||
| 9700 | Servo control gate array failure. | Do one of the following: - Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency and I/O connectors) - Replace the main board. - Replace the additional axis unit. | Reboot | ||
| 9702 | Motor driver not mounted. | Do one of the following: - Check whether the motor driver is mounted. - Check the model setting and hardware setting. - Replace the motor driver. - Replace the MAIN board. | Reboot | ||
| 9705 | Encoder division setting failure. | Check the model setting. | Reboot | ||
| 9707 | Encoder multi-turn beyond maximum range. | Do one of the following: - Reset the encoder. - Replace the motor. | Reboot | ||
| 9708 | Position is out of range. | Do one of the following: - Reset the encoder. - Replace the MAIN board. - Replace the motor. | Reboot | ||
| 9709 | No encoder response. | Do one of the following: - Check the model setting. - Check the signal cable connection. - Replace the main board and encoder I/F board. | Reboot | ||
| 9710 | Failed to initialize encoder. | Do one of the following: - Reboot the Controller. - Check the robot configuration. - Check the signal cable connection. - Replace the main board and encoder I/F board. | Reboot | ||
| 9711 | Failed to communicate with encoder. | Do one of the following: - Reboot the Controller. - Check the robot configuration. - Check the signal cable connection. - Replace the main board and encoder I/F board. | Reboot | ||
| 9712 | Servo CPU watchdog timer detected a failure. | Do one of the following: - Reboot the Controller. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9713 | Current control circuit WDT detected a failure. | Do one of the following: - Reboot the Controller. - Check the power cable connection. - Check the 15V power supply and cable connection. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9714 | The main board is not compatible with the robot. | Do one of the following: - Check the robot configuration. - Replace it with a main board that is compatible with the robot. | Reboot | ||
| 9715 | The encoder was reset. | Reboot the Controller. | Reboot | ||
| 9716 | Encoder data backup power supply failure. | Do one of the following: - Check the signal cable connection. - Replace the encoder batteries and reset the encoder. | Reboot | ||
| 9717 | Encoder data backup data failure. | Do one of the following: - Reset the encoder. - Check the signal cable connection. | Reboot | ||
| 9719 | Encoder position failure. | Do one of the following: - Reset the encoder. - Replace the motor. (Encoder failure) | Reboot | ||
| 9720 | Speed is too high when encoder power supply is on. | Do one of the following: - Check the interference with the other devices. - Check that robot operation has been stopped and reboot the Controller. - Reset the encoder. | Reboot | ||
| 9722 | R/D transducer failure. | Do one of the following: - Check the signal wiring of the manipulator (loose pin, disconnection, short). - Reset the encoder. | Reboot | ||
| 9723 | G sensor communication failure. | Do one of the following: - Check the signal wiring connection. - Check the signal wiring of the manipulator (loose pin, disconnection, short). - Check the noise countermeasures. - Replace the control board. - Replace the MAIN board. | Reboot | ||
| 9724 | G sensor data failure. | Replace the control board. | Reboot | ||
| 9725 | The multi rotational data and the R/D conversion data is different. | Do one of the following: - Check the noise countermeasure. | Reboot | ||
| 9726 | Resolver excitation signal disconnected. | Do one of the following: - Check the signal wiring of the manipulator (loose pin, disconnection, short). - Reset the encoder. | Reboot | ||
| 9727 | S-DSP detected the communication error in DSP. | Do one of the following: - Reboot the Controller. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9728 | Current feedback data error detected. | Do one of the following: - Reboot the Controller. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9729 | D-DSP communication failure. | Do one of the following: - Reboot the Controller. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9730 | Speed is too high when encoder power supply is off. | Do one of the following: - Reset the encoder. - Replace the motor. | Reboot | ||
| 9731 | Encoder speed is too high. | Do one of the following: - Reset the encoder. - Replace the motor. | Reboot | ||
| 9732 | Servo alarm A. | Reboot the Controller. | Reboot | ||
| 9733 | Failed to initialize G sensor. | Do one of the following: - Reboot the Controller. - Check the signal cable connection. - Check the noise countermeasure. | Reboot | ||
| 9734 | Encoder reset failed. | Do one of the following: - Reboot the Controller. - Reset the encoder again. - Check the signal cable connection. - Replace the motor. (Encoder failure) - Check the noise countermeasures. | Reboot | ||
| 9740 | A servo CPU system error occurred. | Do one of the following: - Reboot the Controller. - Check the noise countermeasure. - Replace the MAIN board. | Reboot | ||
| 9800 | Safety board detected an encoder error. | Do one of the following: - Reboot the Controller. - Do the following in order. 1. Remedy the encoder error occurred together in the system history. 2. If no related errors occur, do one of the following: - Check the connection of the Safety board. - Replace the Safety Board. | Type of error 1: Communication 2: Internal | Joint number 1:J12:J24:J38:J416:J532:J6 | Reboot |
| 9801 | Safety board detected a position error. | Do one of the following: - Reboot the Controller. - Do the following in order. 1. Remedy the position error in the system history. 2. If the Torque Control Mode (TCLim command) is used, correct the program with the SPEL command reference. 3. If a related error has not occurred, implement HOFS settings from the Safety Function Manager. | Joint number 1:J12:J24:J38:J416:J532:J6 | Reboot | |
| 9802 | Safety board detected an input duplication error. | Do one of the following: - Reboot the Controller. - Check how to use TP. After rebooting the controller, grip the middle of the enable switch and apply pressure evenly to the whole switch. - Check the connection between the Safety board and emergency stop button, and or input devices such as TP. Make sure to shut the controller off before connecting or disconnecting a connector. | Type of error 1: SAFETY_IN 12: SAFETY_IN 24: SAFETY_IN 38: SAFETY_IN 416: SAFETY_IN 532: Enable switch 64: Emergency stop switch (TP) 128: Emergency stop switch (controller connection) | Reboot | |
| 9803 | Safety board detected an output duplication error. | Do one of the following: - Reboot the Controller. - Check the connection between the external device and the Controller. - Check how to use TP. Grip the middle of the enable switch and apply pressure evenly to the whole switch. - Correct the settings or program so that the robot operates with a margin for the safe speed monitoring and safe position monitoring settings. - Check the safety I/O connector power connection. Make sure to shut the controller off before connecting or disconnecting a connector. | Type of error 1: SAFETY_OUT 12: SAFETY_OUT 24: SAFETY_OUT 3128: Safety torque OFF | Reboot | |
| 9804 | Safety board error detected. | Do one of the following: - Reboot the Controller. - Check the connection of the Safety Board in the Controller. - Replace the Safety Board. | [Note 1] Type of error 2: Watchdog timer detection 4: Power supply (5V) 8: Power supply (3.3V) 64: Communication bus | Reboot | |
| 9805 | Safety board MCU error detected. | Check the Notes in the system history and take an appropriate measure according to the status. [Parameter error (Note 1 = 1, and Note 2 = 255)]* Use the Safety Function Manager and write the robot parameters to the Safety board.* Occurrence of this error after replacing the Safety Board is no problem. In that case, perform the above operation. [No parameter error] Do one of the following: - Reboot the Controller. - Replace the Safety Board, if this error occurs repeatedly. | Type of error 1: Data ROM2: Program ROM4: RAM16: Sequence monitor 128: CPU | When Note 1 is 1 0 - 254: Data failure location 255: Parameter error | Reboot |
| 9806 | Safety board detected controller error. | Do one of the following: - Reboot the Controller. - If this error occurs repeatedly, contact us. | Type of error 1: Operation mode reception error | Reboot | |
| 9807 | Safety board detected relay welding. | Reboot the Controller. Do the following in order if this error continues to occur. 1. Remedy the relay welding error occurred together in the system history. 2. If no related errors occur, do one of the following: - Check the connection of the Safety Board in the Controller. - Replace the Safety Board. | Type of error 1: Relay welding | Reboot | |
| 9809 | Signal mismatch occurred in Safety board. | Do one of the following: - Reboot the Controller. - Check how to use TP. After rebooting the controller, grip the middle of the enable switch and apply pressure evenly to the whole switch. - Correct the settings or program so that the robot operates with a margin for the safe speed monitoring and safe position monitoring settings. - Check the connection of the Safety Board in the Controller. - Replace the Safety Board. | [Note 1] Type of error 1: Status mismatch 2: Hand position mismatch | Reboot | |
| 9810 | The Safety board is not connected. | Do one of the following: - Reboot the Controller. - Check the connection of the Safety Board in the Controller. - Replace the Safety Board. | Type of error 1: Safety board | Reboot | |
| 9811 | Controller robot model and Safety board settings differ. | Do the following in order. 1. Select the Robot Model in the Controller settings. 2. Correct the settings of the Safety Board from the Safety Function Manager. | Reboot | ||
| 9812 | Controller robot checksum value and Safety board settings differ. | Do the following in order. 1. Select the Robot Model in the Controller settings. 2. Correct the settings of the Safety Board from the Safety Function Manager. | Checksum value of Controller. | Checksum value of Safety Board. | Reboot |
| 9814 | Controller settings and Safety board settings differ. | Correct the settings of the Safety Board from the Safety Function Manager. | Settings with detected difference 1: Dry Run setting | Reboot |