Countermeasure

Error Solution

The collision detection function (robot motion error detection) was activated. The following abnormalities were detected: - Collision or contact involving the robot arm - Torque saturation caused by a hand weight exceeding the rated value while holding a long object Abnormality caused by a hardware problem or software failure Countermeasures: Do one of the following: - Check whether the robot arm is colliding with or contacting peripheral equipment, and improve the layout to avoid interference. - Check and correct the hand weight. - For axes 4 and 5 of a 6-axis robot: check for torque saturation. - If saturation occurs: change to holding in high power mode. - If other errors occur simultaneously: handle the other errors. Refer to "Epson RC+ User's Guide - Collision Detection Function (Robot Motion Error Detection Function)".

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