The error clearly states that something is wrong with the safety wiring of the robot. You may not always see loose wires, but the connection can be bad and therefor the error is shown.
Can you still use the robot or is it completely blocked the entire time because of this error?
You can try the following to solve it:
- Press and release all emergency buttons (a few times after each other). Sometimes a contact can get stuck.
- On the right side in the controller you can find a board as pictured below. Remove and reconnect the plugs X1, X2, X5 and X6 a few times. Always do this with the robot powered down and unplugged from the power!
- If I remember correctly there are some extra wires connected to one of the plugs of the board from point 2. These are labeled with a piece of duct tape which contains a description. Check if these wires are connected correctly.
- The connections of the emergency button of the front panel al visible inside the robot. Also check if these wires al still connected properly.
Unfortunately, I have something else on Monday so I won’t come in on the planned moment. If the things above don’t solve the problem then let me know. I will try to come in the late afternoon (on Monday) to help.