Some errors are not recoverable from Forge/OS or EPSON RC+ (e.g., Error 4066: "Motion Command was attempted in the prohibited area depended on joint combination").
Follow these steps to recover your robot:
This guide assumes that:
- You have connected a Windows PC with RC+ to your robot controller.
- You have restarted RC+ in Program Mode.
In the Project menu, expand the Recent Projects menu.
Select the EPSON_DRIVER file.
If you see a pop-up asking if you want to disconnect from the controller, click No.
In the Tools menu, click Command Window.
In the Command Window, type "Motor Off". Then press Enter.
In Forge/OS, open the Device Controls app, then select the EPSON robot in the dropdown.
View the Joint positions to see which one is passed its limit.
In the Command Window, type "Brake Off, [JOINT#]", then press Enter. Here is an example for releasing the joint 3 brake.
You may need to catch the robot as it falls. Avoid damage to the robot and any nearby objects that it might collide with.
Use your hands to move the joint back within the movable zone.
In the Command Window, type "Brake On, [JOINT#]", then press Enter.
In the Command Window, type "Motor On". Then press Enter.
Unplug the USB cable from your Windows PC and robot controller.
A "Communication disconnection detected" pop-up appears in RC+.
Tap the DEVICE STATUS button in the Toolbar to expand the Device Status Panel.
Check for robot errors. Tap RESET to try to recover from the error(s).
Check for robot errors. Tap RESET to try to recover from the error(s).
If you can't RESET the error(s), tap MORE to get more details and instructions.