Cause:
- The robot collided with peripheral equipment.
- An anti-collision signal is configured, but no anti-collision device is connected.
Troubleshooting:
For 1, check whether the robot has collided with peripheral equipment.
For 2, check on the system signal configuration screen whether an anti-collision signal is configured without an anti-collision device being connected.
Solution:
For 1, jog the robot back to its normal position.
For 2, remove the anti-collision signal from the system signal configuration screen.
Case sharing:
If the collision protection signal is configured as DI port 1 on the system configuration screen but is not connected to a collision protection device, error 153 is reported at every startup.