Technical Support Notes
| Article ID: | T1105 |
| Date: | 7/21/05 |
| Product: | EPSON RC+ v4.1.0, v4.1.0 SP1 |
| Subject: | Brake release problem with Cont after safeguard closed |
Symptoms
Sometimes if Cont
is executed immediately after the safeguard is closed, such as in an SGClose
trap or by remote, all brakes are released before motor power is
restored. Or in some cases, a torque
error will occur.
Important: This problem can cause one or more joints to fall depending on the robot model and mounting orientation.
Causes
This is caused by a bug in EPSON RC+ versions 4.1.0 and 4.1.0
SP1.
Remedy
To workaround the
problem, add a one second delay before executing Cont after the safeguard is
closed.
Status
This problem was fixed in version 4.1.0 SP2.
