Safety Function Manual for Collaborative Robot
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  • 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

E7170~E7213

Code

Message

Cause

　　　Solutions

E7170

Low temperature error in the safety controller

Low temperature error in Temperature Sensor 1

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7171

Low temperature error in the safety controller

Low temperature error in Temperature Sensor 2

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7172

Low temperature error in the safety controller

Low temperature error in Temperature Sensor 3

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7173

High temperature error in the safety controller

High temperature error in Temperature Sensor 1

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7174

High temperature error in the safety controller

High temperature error in Temperature Sensor 2

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7175

High temperature error in the safety controller

High temperature error in Temperature Sensor 3

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7176

Error in the 1.2 V power in the safety controller

The 1.2 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7177

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7178

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7179

Error in the 5 V power in the safety controller

The 5 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7180

Error in the 24 V power in the safety controller

The 24 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • Check the 24 V power of the controller.

E7181

Error in the 48 V power in the safety controller

The 48 V power of Channel 0 is below the specified value.

  • Reboot the controller.

  • Check the 48 V power of the controller.

E7182

Error in the 1.2 V power in the safety controller

The 1.2 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7183

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7184

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7185

Error in the 5 V power in the safety controller

The 5 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7186

Error in the 24 V power in the safety controller

The 24 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • Check the 24 V power of the controller.

E7187

Error in the 48 V power in the safety controller

The 48 V power of Channel 1 is below the specified value.

  • Reboot the controller.

  • Check the 48 V power of the controller.

E7188

Error in the 1.2 V power in the safety controller

The 1.2 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7189

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7190

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7191

Error in the 5 V power in the safety controller

The 5 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7192

Error in the 24 V power in the safety controller

The 24 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • Check the 24 V power of the controller.

E7193

Error in the 48 V power in the safety controller

The 48 V power of Channel 0 is above the specified value.

  • Reboot the controller.

  • Check the 48 V power of the controller.

E7194

Error in the 1.2 V power in the safety controller

The 1.2 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7195

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7196

Error in the 3.3 V power in the safety controller

The 3.3 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7197

Error in the 5 V power in the safety controller

The 5 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7198

Error in the 24 V power in the safety controller

The 24 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • Check the 24 V power of the controller.

E7199

Error in the 48 V power in the safety controller

The 48 V power of Channel 1 is above the specified value.

  • Reboot the controller.

  • Check the 48 V power of the controller.

E7200

Safety controller failed to read the temperature sensor

The temperature sensor value cannot be read.

  • Reboot the controller. I

  • f the error persists, replace the safety controller board.

E7201

Safety controller failed to read the voltage sensor

The voltage value cannot be read.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7202

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7203

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7204

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7205

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7206

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7207

Error in the program sequence diagnosis in the safety controller

The operating sequence of the safety program in the safety controller is abnormal.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7210

Error in the interchannel status synchronization in the safety controller

Two channels have different statuses.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7211

Error in the status of the safety controller

It has an undefined status.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7212

Error in the channels in the safety controller

The IDs of the two channels are incorrect.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

E7213

Interchannel synchronization timeout in the safety controller

Two channels cannot be synchronized with each other.

  • Reboot the controller.

  • If the error persists, replace the safety controller board.

PreviousE7101~E7120NextE7250~E7348

Last updated 3 years ago

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