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Error no. H2370 *
1Error list
H2370 * One of the errors below is detected.
Please take measures corresponding to an error message.
Error message SF monitoring mode inconsistency
Cause The monitoring mode is inconsistent between the main CPU and the servo CPU.
Measures The monitoring mode status of the functional safety is inconsistent between the main CPU and the servo
CPU. After turning OFF the power, turn ON the power again to reset the error. If the same error recurs,
contact the manufacturer. And, this error can be generated in the case the pulse with the width above 7ms
is input to a counterpart of the duplex inputs within the period form the change of DSI signal state to the
change of monitoring mode(within the reaction time), as shown in the chart below. In such a case, remove
the cause of such a pulse and prevent such a pulse input.
Error message SF process error (MCPU)
Cause The safety function of the servo CPU is not executed properly.
Measures Improper operation of the servo CPU safety function is detected. After turning OFF the power, turn ON the
power again to reset the error. If the same error recurs, contact the manufacturer.
If CR7xx-Q robot controller is used, this error is generated when the power is turned off only on the drive
unit side. In such a case, turn on the drive unit and reset the error.
Error message SF process error (MCPU)
Cause A safety function error is detected.
Measures A process error of the safety function is detected for the main CPU. After turning OFF the power, turn ON
the power again to reset the error. If the same error recurs, contact the manufacturer.
Error message Enable/disable setting inconsistency (xxx)
Cause The enable/disable setting of the safety monitoring function is inconsistent between the main CPU and the
servo CPU.
Measures The enable/disable status of the function displayed in the "(xxx)" part of the error message is inconsistent
between the main CPU and the servo CPU. Check the relevant parameter setting, turn OFF the power, and
turn it ON again.
* One of the following is displayed in "(xxx)".
DSI, SLS, SLP, or STR
H238n *
(n indicates
the axis
number (1 to
8).)
Error message SF process error (SCPU)
Cause A safety function error is detected.
Measures A process error of the safety monitoring function is detected for the servo CPU. After turning OFF the
power, turn ON the power again to reset the error. If the same error recurs, contact the manufacturer.
L240n
(n: Robot CPU
No.)
Error message Collision avoidance detect (*)
Note) "(*)": shows the detected model. (the the lower digit of the parameter for the model registry)
Cause A collision avoidance was detected
Measures Release the collision avoidance state
L241n
(n: Robot CPU
No.)
Error message Collision avoidance detect (*)
Note) "(*)": shows the detected model. (the the lower digit of the parameter for the model registry)
Cause A collision avoidance was detected
Measures Release the collision avoidance state
L2420 Error message Collision avoidance comm. error
Cause Collision avoidance comm. error
Measures Check the robot controller
L2421 Error message A lot of colli. avoidance models
Cause A lot of collision avoidance models
Measures Reduce the collision avoidance models
Error No. Error cause and measures
DSI1-A
ON
OFF
DSI1-B
ON
OFF
モード1監視モード
遅延時間
モード2(A)
DSI1
7ms以上
Monitoring mode
Mode 1
Mode 2(A)
Reaction time
More than 7ms
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