> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/cobot-safety-function/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://hyundai-robotics.gitbook.io/cobot-safety-function/sf-english/4-error-message/e7101-e7120.md). # E7101\~E7120

Code	Message	Cause	Solutions
Code	Message	Cause	Solutions
E7101	Error in the safety CPU (CH0) watchdog in the safety controller	Watchdog timeout of the safety CPU (CH0)	Reboot the controller. If the error persists, replace the safety controller board.
E7102	Error in the safety CPU (CH1) watchdog in the safety controller	Watchdog timeout of the safety CPU (CH1)	Reboot the controller. If the error persists, replace the safety controller board.
E7103	Error in the axis 1 encoder diagnosis by the safety controller	An error occurred during the axis 1 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7104	Error in the axis 2 encoder diagnosis by the safety controller	An error occurred during the axis 2 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7105	Error in the axis 3 encoder diagnosis by the safety controller	An error occurred during the axis 3 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7106	Error in the axis 4 encoder diagnosis by the safety controller	An error occurred during the axis 4 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7107	Error in the axis 5 encoder diagnosis by the safety controller	An error occurred during the axis 5 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7108	Error in the axis 6 encoder diagnosis by the safety controller	An error occurred during the axis 6 encoder diagnosis.	Check the CAN communication cable between the safety controller and the encoder. Reboot the controller.
E7109	Error in the axis 1 torque sensor diagnosis by the safety controller	An error occurred during the axis 1 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7110	Error in the axis 2 torque sensor diagnosis by the safety controller	An error occurred during the axis 2 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7111	Error in the axis 3 torque sensor diagnosis by the safety controller	An error occurred during the axis 3 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7112	Error in the axis 4 torque sensor diagnosis by the safety controller	An error occurred during the axis 4 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7113	Error in the axis 5 torque sensor diagnosis by the safety controller	An error occurred during the axis 5 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7114	Error in the axis 6 torque sensor diagnosis by the safety controller	An error occurred during the axis 6 torque sensor diagnosis.	Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7115	Error (2) in the axis 1 torque sensor diagnosis by the safety controller	An error occurred during the axis 1 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7116	Error (2) in the axis 2 torque sensor diagnosis by the safety controller	An error occurred during the axis 2 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7117	Error (2) in the axis 3 torque sensor diagnosis by the safety controller	An error occurred during the axis 3 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7118	Error (2) in the axis 4 torque sensor diagnosis by the safety controller	An error occurred during the axis 4 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7119	Error (2) in the axis 5 torque sensor diagnosis by the safety controller	An error occurred during the axis 5 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.
E7120	Error (2) in the axis 6 torque sensor diagnosis by the safety controller	An error occurred during the axis 6 torque sensor diagnosis.	Check if the tool data match the actual tool. Check the CAN communication cable between the safety controller and the torque sensor. Check the torque sensor of the pertaining axis. Reboot the controller.