Hello to everyone

I have a problem with my dmc 70v machine.

Error messages

15 VSP: Klemmung Z-Achse aktiv
5 VSP: Sicherheitsfunktion

And if i open and close door i get another error

85 SSP: Sicherheitsfunktion

Also on servo drives i get b, F4 E7, F3 E7, F1 E7

Thank you very much.