# E7731\~E7905

Code	Message	Cause	Solutions
Code	Message	Cause	Solutions
E7731	Axis 1 violation of safety space (%s [deg])	The position of axis 1 exceeded a specified 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.
E7732	Axis 2 violation of safety space (%s [deg])	The position of axis 2 exceeded a specified 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.
E7733	Axis 3 violation of safety space (%s [deg])	The position of axis 3 exceeded a specified 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.
E7734	Axis 4 violation of safety space (%s [deg])	The position of axis 4 exceeded a specified 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.
E7735	Axis 5 violation of safety space (%s [deg])	The position of axis 5 exceeded a specified 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.
E7736	Axis 6 violation of safety space (%s [deg])	The position of axis 6 exceeded a specified 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.
E7741	Axis 1 violation of safe speed (%s [deg/s])	The speed of axis 1 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7742	Axis 2 violation of safe speed (%s [deg/s])	The speed of axis 2 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7743	Axis 3 violation of safe speed (%s [deg/s])	The speed of axis 3 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7744	Axis 4 violation of safe speed (%s [deg/s])	The speed of axis 4 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7745	Axis 5 violation of safe speed (%s [deg/s])	The speed of axis 5 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7746	Axis 6 violation of safe speed (%s [deg/s])	The speed of axis 6 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the speeds of the axes. Check the speeds in the edited program.
E7751	Axis 1 violation of torque (%s [Nm])	The torque of axis 1 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7752	Axis 2 violation of torque (%s [Nm])	The torque of axis 2 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7753	Axis 3 violation of torque (%s [Nm])	The torque of axis 3 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7754	Axis 4 violation of torque (%s [Nm])	The torque of axis 4 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7755	Axis 5 violation of torque (%s [Nm])	The torque of axis 5 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7756	Axis 6 violation of torque (%s [Nm])	The torque of axis 6 exceeded the specified safety condition.	In the menu for setting the conditions of the safety functions, check the torques of the axes. In the safety function parameters, check the current torques of the axes.
E7802	Error in the mode switch in the safety controller	Abnormal mode switch signal input	Check the TP cable.
E7804	Error in the interchannel communication in the safety controller	Communication error between the two safety CPUs	Reboot the controller. If the error persists, replace the safety controller.
E7805	Error in the diagnosis of the signal for servo power control by the safety controller	Error in the feedback of the STO signal for servo power control	Reboot the controller. If the error persists, replace the safety controller.
E7806	Error in the TP emergency stop signal in the safety controller	Error in the emergency stop signal of the TP	Check the TP cable.
E7807	Error in the TP enabling switch signal in the safety controller	Error in the enabling switch signal of the TP	Check the TP cable.
E7808	Error in the external safeguarding signal in the safety controller	Error in the external safeguarding signal	Check the external safeguarding signal cable.
E7809	Error in the external emergency stop signal in the safety controller	Error in the external emergency stop signal	Check the external emergency stop signal cable.
E7811	Mismatch of the TP mode switch signals in the safety controller	Mismatch between the dual signals of the TP mode switch	Check the TP cable.
E7812	Mismatch of the TP enabling switch signals in the safety controller	Mismatch between the dual signals of the TP enabling switch	Check the TP cable.
E7813	Mismatch of the external emergency stop signals in the safety controller	Mismatch between the external emergency stop dual-channel signals	Check the external emergency stop cable.
E7814	Mismatch of the external safeguarding signals in the safety controller	Mismatch between the external safeguarding dual-channel signals	Check the external safeguarding cable.
E7815	Mismatch of the TP emergency stop signals in the safety controller	Mismatch between the TP emergency stop dual-channel signals	Check the TP cable.
E7816	Mismatch of the safety input signals (no. 0) in the safety controller	Mismatch between the safety input no. 0 dual-channel signals	Check the input signal cable.
E7817	Mismatch of the safety input signals (no. 1) in the safety controller	Mismatch between the safety input no.1 dual-channel signals	Check the input signal cable.
E7818	Mismatch of the safety input signals (no. 2) in the safety controller	Mismatch between the safety input no. 2 dual-channel signals	Check the input signal cable.
E7819	Mismatch of the safety input signals (no. 3) in the safety controller	Mismatch between the safety input no. 3 dual-channel signals	Check the input signal cable.
E7821	Error in the safety output signal setting in the safety controller	Abnormal usage setting of safety output signals	Check the output signal assignments of the safety parameters.
E7822	Error in the safety input signal setting in the safety controller	Mismatch of the usages of the dual safety input signals	Check the input signal assignments of the safety parameters.
E7823	Error in the safety output signal setting in the safety controller	Mismatch of the usage settings of dual safety output signals	Check the output signal assignments of the safety parameters.
E7825	Error in the TP enabling signal diagnosis in the safety controller	Failure in the 0 V diagnosis during the TP enabling signal diagnosis	Check the TP cable.
E7826	Error in the TP emergency stop signal diagnosis in the safety controller	Failure in the 0 V diagnosis during the TP emergency stop signal diagnosis	Check the TP cable.
E7827	Error in the TP enabling signal diagnosis in the safety controller	Failure in the high voltage diagnosis during the TP enabling signal diagnosis	Check the TP cable.
E7828	Error in the TP emergency stop signal diagnosis in the safety controller	Failure in the high voltage diagnosis during the TP emergency stop signal diagnosis	Check the TP cable.
E7829	Error in the safety output signal diagnosis	Error in the safety output signal feedback	Check the output signal cable.
E7830	Error in the direct teaching switch diagnosis	Mismatch between the direct teaching switch dual-channel signals	Check the direct teaching switches. Reboot the controller. If the error persists, replace the safety controller.
E7901	Error in the communication between the safety CPUs in the safety controller	Error in the communication parameters between the safety CPUs	Reboot the controller. If the error persists, replace the safety controller.
E7902	Error in the communication between the safety CPUs in the safety controller	General error in the communication between the safety CPUs	Reboot the controller. If the error persists, replace the safety controller.
E7903	Communication timeout between the safety CPUs in the safety controller	Communication timeout between the safety CPUs in the safety controller	Reboot the controller. If the error persists, replace the safety controller.
E7904	Error in the communication between the safety CPUs in the safety controller	Error in the communication TX between the safety CPUs in the safety controller	Reboot the controller. If the error persists, replace the safety controller.
E7905	Error in the communication between the safety CPUs in the safety controller	Error in the communication TX between the safety CPUs in the safety controller	Reboot the controller. If the error persists, replace the safety controller.