Collision Detected by Safety Controller

When error [5.7060] occurs, the robot stops according to the configured safety stop mode (STO, SS1 or SS2).

• The robot stops when it hits something — or at the same position every time, even when nothing is there.
• It often appears together with 2.9011 (Collision has been detected).

[5.7060] Safety controller category

Collision has been detected.

This is a safety function. The safety controller monitors the external torque on every joint and stops the robot when it exceeds the level set by the collision sensitivity. The error can also come from a collision mute zone, if one is configured.

• Real contact — the robot, tool or cables touch something during the motion.
• Wrong tool settings — a tool is attached but the tool weight or center of gravity is not set, or is set wrong.
• Sensitivity too high for the motion — fast or heavy motions produce joint torque that the robot reads as a collision.
• Sensor drift or wear in a joint — the robot detects a collision even though the forces are low. This needs service.

• Check for anything the robot, tool or cables could touch at the stop position, and remove it.
• Check that the tool weight and center of gravity are set and match the real tool and workpiece, and that the correct tool is selected.
• If the error happens at the same motion every time, reduce the speed and acceleration of that motion.
• If the application allows it, lower the collision sensitivity in the safety settings, or set a collision mute zone for the section where contact is expected — within what your risk assessment allows.
• If the robot reports collisions at low speed with nothing touching it, or after a repair or software update, contact your distributor.

• Robot model and serial number
• Software version of the controller
• All error codes shown with 5.7060, and the date and time
• The collision sensitivity setting, and the tool weight and center of gravity settings
• Whether the robot was recently repaired, updated or collided
• The controller log exported right after the error, and a video of the motion if possible

• 2.9011 Collision has been detected
• 2.9015 TCP force has exceeded user limit
• 5.7059 Joint torque has exceeded user limit in at least one joint
• 4.1011 Brake Voltage Error