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page 42
R000A
No Rbt. Act. Of Swap Lens
Cmd.
Robot did not acknowledge the PLC's request to swap
lenses. Is communication cable connected? Check
orange power light is lit on robot.
R0009
Rbt. Failed To Exe. Load
Lens Cmd.
Robot did not send confirmation that the load lens
command has been completed. Is communication
cable connected? Check orange power light is lit on
robot.
R000B
Rbt. Failed To Exe. Swap
Lens Cmd.
Robot did not send confirmation that the swap lens
command has been completed. Is communication
cable connected? Check orange power light is lit on
robot.
R000D Rbt. Failed To Exe. Unload
Lens Cmd.
Robot did not send confirmation that the unload lens
command has been completed. Is communication
cable connected? Check orange power light is lit on
robot.
R016C Robot Failed to Pick New
Lens
Robot was unsuccessful in picking a lens. Check robot
suction cups, robot pick height, and robot vacuum.
R0237
Robot Lost Lens
Robot has lost vacuum signal. Check robot vacuum,
should be over 16 with lens on suction cup, suction cup
for tears or damage, and actuator rotation speed.
R012C Robot Not Ready
The robot "ready" signal to the PLC is not energized.
This check occurs when system is starting -up. Check
robot status for any alarms (e-stop) or that enable I/O
remote was not activated on Epson software when a
laptop was connected to controller.
R0007
Robot Not Starting
The robot "running" signal to the PLC is not energized.
This check occurs when system is starting -up. Check
robot status. Check robot status for any alarms (e-stop)
or that enable I/O remote was not activated on Epson
software when a laptop was connected to controller.
R000E
Robot Pick Ack. Failed
Robot did not acknowledge the PLC's request to pick
the next lens. Is communication cable connected?
Check orange power light is lit on robot.
R000F
Robot Pick Cmd. Failed
Robot did not send confirmation that the pick lens
command has been completed. Is communication
cable connected? Check orange power light is lit on
robot.
R0010
Robot Place Ack. Failed
Robot did not acknowledge the PLC's request to place
the finished lens. Is communication cable connected?
R0015
Robot Place Cmd. Failed
Robot did not send confirmation that the place lens
command has been completed. Is communication
cable connected?
R0048
Servo Faulted
The servo drive has faulted. Check the servo drive
status and wiring from the servo drive. This is a fail-
safe connection; if the circuit opens, fault will also
occur.
R004F
Servo Homing Failed
The servo drive has not homed within two minutes of
trying. Check spindle alignment prox since those are
also read by the servo drive to determine home
