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 Weight and Inertia settings that are too small - Torque saturation caused by combined multi-joint motion and swinging of a long object - Torque saturation caused by excessively low power supply voltage - Abnormality caused by a hardware problem or software failure 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 for torque saturation. If saturation occurs: Check and correct the Weight and Inertia settings. If saturation occurs during combined motion: Adjust acceleration and deceleration to avoid torque saturation. Check and correct the power supply voltage. 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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