SCARA, 6-Axis and Modules
Technical Support Notes

Article ID: T1072
Date: 5/2/02 (updated 10/1/02)
Product: EPSON RC+  (all versions up to and including 3.4.1 SP1)
Subject: Error 4242 sometimes occurs using Pass in CP mode after safeguard open.

Symptoms
When using Pass in CP mode, sometimes when continuing after the safeguard is open and closed, error 4242, "Improper acceleration reference is generated." occurs.  This error cannot be handled in a user error handler.

Causes
This is caused by a bug in EPSON RC+.

Remedy
Avoid continuing after safeguard open during Pass in CP mode.

Status
This problem was fixed in v3.4.1 SP2.

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