Safety Function Manual for Collaborative Robot
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English
  • Safety Function Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety functions of the collaborative robot
    • 1.1 Description of terms
    • 1.2 Collaborative operation mode
      • 1.2.1 Safety-rated monitored stop
      • 1.2.2 Hand guiding
      • 1.2.3 Speed and separation monitoring
      • 1.2.4 Power and force limiting
    • 1.3 Safety functions
      • 1.3.1 Robot limit functions
      • 1.3.2 Joint limit functions
    • 1.4 Matters to be checked upon replacing safety devices
    • 1.5 Matters to be checked before using the safety functions
      • 1.5.1 Encoder offset
      • 1.5.2 Checking the torque sensor
        • 1.5.2.1 Torque sensor offset
      • 1.5.3 Setting of tool data
      • 1.5.4 Password setting
    • 1.6 Robot safety conditions
      • 1.6.1 Robot limiting parameters
      • 1.6.2 Joint limiting parameters
    • 1.7 Safety layout
      • 1.7.1 Safety space setting
        • 1.7.1.1 Setting information on safety space parameters
      • 1.7.2 Safety tool modeling
      • 1.7.3 Safety robot modeling
      • 1.7.4WorkCell 3D
    • 1.8 Safety I/O signals
    • 1.9Safety Stop Function
    • 1.10 Safety condition monitoring
      • 1.10.1 Robot limiting parameter monitoring
      • 1.10.2Joint limiting function monitoring
      • 1.10.3 SCM board status monitoring
      • 1.10.4 Safety I/O status monitoring
      • 1.10.5 Recovery mode
        • 1.10.5.1 Recovery in case of robot position violations
        • 1.10.5.2 Recovery in case of robot speed violations
        • 1.10.5.3 Recovery in case of robot force violations
        • 1.10.5.4 Recovery in cases of safe operating stop (SOS) violations
    • 1.11 Collaborative robot collision detection mode
  • 2. Direct teaching
    • 2.1 Direct teaching switch assignment
    • 2.2 Driving the robot by direct teaching
    • 2.3 Direct teaching mode setting
    • 2.4 Constraint motion
  • 3. I/O setting
    • 3.1 I/O map
    • 3.2 Tool I/O
      • 3.2.1 Default specifications of the tool I/O
      • 3.2.2 Tool I/O setting
    • 3.3 Analog I/O
      • 3.3.1 Default specifications of the analog I/O
      • 3.3.2 Analog I/O setting
  • 4. Error messages
    • E7001~E7066
    • E7101~E7120
    • E7170~E7213
    • E7250~E7348
    • E7403~E7711
    • E7731~E7905
  • Attachment
    • The Rules on the Criteria for Occupational Safety and Health, and the Public Notice of Safety Inspec
  • Warranty
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  1. 4. Error messages

E7101~E7120

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.

PreviousE7001~E7066NextE7170~E7213

Last updated 3 years ago

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