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

E7403~E7711

Code

Message

Cause

　　　Solutions

E7405

The configuration certificate file of the collaborative robot is missing.

A failure occurred in reading the certificate file of the collaborative robot configuration file.

Set all the configurations of the collaborative robot again.

E7407

The type of the configuration certificate of the collaborative robot is invalid.

The type of the certificate file is invalid. The file may have been modified arbitrarily.

Set all the configurations of the collaborative robot again.

E7409

The code of the configuration certificate of the collaborative robot does not match.

The code of the certificate file is invalid. The file may have been modified arbitrarily.

Set all the configurations of the collaborative robot again.

E7501

Error in the communication with the safety board of the collaborative robot

Communication with the safety board of the collaborative robot is not established.

Reboot the controller.

E7601

Failure in the reading of version information on the axis 1 torque sensor in the safety controller

Failure in the reading of version information on the axis 1 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7602

Failure in the reading of version information on the axis 2 torque sensor in the safety controller

Failure in the reading of version information on the axis 2 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7603

Failure in the reading of version information on the axis 3 torque sensor in the safety controller

Failure in the reading of version information on the axis 3 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7604

Failure in the reading of version information on the axis 4 torque sensor in the safety controller

Failure in the reading of version information on the axis 4 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7605

Failure in the reading of version information on the axis 5 torque sensor in the safety controller

Failure in the reading of version information on the axis 5 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7606

Failure in the reading of version information on the axis 6 torque sensor in the safety controller

Failure in the reading of version information on the axis 6 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the torque sensors of axes 1 through 6.

E7607

Failure in the reading of the version information on the axis 1 encoder in the safety controller

Failure in the reading of the version information on the axis 1 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7608

Failure in the reading of the version information on the axis 2 encoder in the safety controller

Failure in the reading of the version information on the axis 2 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7609

Failure in the reading of the version information on the axis 3 encoder in the safety controller

Failure in the reading of the version information on the axis 3 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7610

Failure in the reading of the version information on the axis 4 encoder in the safety controller

Failure in the reading of the version information on the axis 4 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7611

Failure in the reading of the version information on the axis 5 encoder in the safety controller

Failure in the reading of the version information on the axis 5 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7612

Failure in the reading of the version information on the axis 6 encoder in the safety controller

Failure in the reading of the version information on the axis 6 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

  • Check the CAN ID settings of the encoders of axes 1 through 6.

E7613

Communication timeout of the axis 1 torque sensor in the safety controller

CAN communication timeout of the axis 1 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7614

Communication timeout of the axis 2 torque sensor in the safety controller

CAN communication timeout of the axis 2 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7615

Communication timeout of the axis 3 torque sensor in the safety controller

CAN communication timeout of the axis 3 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7616

Communication timeout of the axis 4 torque sensor in the safety controller

CAN communication timeout of the axis 4 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7617

Communication timeout of the axis 5 torque sensor in the safety controller

CAN communication timeout of the axis 5 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7618

Communication timeout of the axis 6 torque sensor in the safety controller

CAN communication timeout of the axis 6 torque sensor in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7619

Communication timeout of the axis 1 encoder in the safety controller

CAN communication timeout of the axis 1 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7620

Communication timeout of the axis 2 encoder in the safety controller

CAN communication timeout of the axis 2 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7621

Communication timeout of the axis 3 encoder in the safety controller

CAN communication timeout of the axis 3 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7622

Communication timeout of the axis 4 encoder in the safety controller

CAN communication timeout of the axis 4 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7623

Communication timeout of the axis 5 encoder in the safety controller

CAN communication timeout of the axis 5 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7624

Communication timeout of the axis 6 encoder in the safety controller

CAN communication timeout of the axis 6 encoder in the safety controller

  • Reboot the controller.

  • Check the CAN communication cable of the robot manipulator.

E7701

TCP speed violation (%s [mm/s])

The TCP speed violated the safety condition.

  • Check the specified values in the menu for setting the conditions of the safety functions.

  • Check the robot’s TCP speed in the edited program.

E7702

TCP force violation (%s [N])

The TCP force violated the safety condition.

  • Check the specified values in the menu for setting the conditions of the safety functions.

  • Check the tool number and data.

E7703

TCP rotating angle violation (%s [deg])

The TCP rotating angle violated the safety condition.

  • Check the specified values in the menu for setting the conditions of the safety functions.

  • Check the tool’s orientation in the edited program.

E7704

Robot’s power factor violation (%s [N])

The robot’s power factor violated the safety condition.

  • Check the specified values in the menu for setting the conditions of the safety functions.

  • Check the speeds and positions of the axes in the edited program.

E7705

Robot’s momentum violation (%s [kg m/s])

The robot’s momentum violated the safety condition.

  • Check the specified values in the menu for setting the conditions of the safety functions.

  • Check the robot’s position and TCP speed in the edited program.

E7706

Robot’s safety stop violation

The robot’s motion was detected in stop mode.

Check if the brakes of the axes function normally.

E7707

A collision was detected. – SCM (%s axis)

A collision with the robot was detected.

  • Identify the collision and remove its causes.

  • Adjust the collision detection level.

E7708

A collision with the collaborative robot was detected. – Main

A collision occurred because of an external factor.

  • Identify the collision and remove its causes.

  • Adjust the collision detection level.

E7711

TCP position violation of safety space (Cartesian space %s)

The TCP position exceeded a safety space.

  • Move to the safety space status monitoring window.

  • Select the recovery mode button to change the mode.

  • Move the robot to a safe space.

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Last updated 3 years ago

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