R30iB R2000iC/210F SSPC-103, SRVO-105 ERRORS

    SSPC-103 (G:%d) is near target
    SRVO-105 DOOR OPEN OR ESTOP

    The above listed errors occur frequently and reset and continue. Trying to find more information and remedies about them. There are 3 robots in this cell. We believe moving a known used for months position slightly and touching up that point may have cured it. But this has been running for months. Do not understand why happening today.

    Tracking and trying to gather information on what specifically causes a SRVO-105 DOOR OPEN OR ESTOP error. Have not seen cabinet door switches on controllers in years. The robot in question does not have a cabinet door switch.

    Answering for SRVO-105 DOOR OPEN or E-STOP only

    There may be several reasons behind this alarm in addition to what you find in the maintenance manual.
    1. Safety software/hardware mismatch (ruled out in your case since you mentioned its been running of months.)
    2. Wrong mention of alarm variable values. $ER_NO_ALM (not sure which particular variable under this you should check. Refer manual)
    3. External safety signal related wiring issues.
    4. Safety signal state change timings overshoot. Usually, it is 30 msec

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