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.