What is the cause of the M7022 error in the machine code of KM-ASSYH1-03?

Is there a specific section of the code that you are having trouble with?

Have you tried any troubleshooting steps or consulted the manufacturer's documentation
The solution for the error M7022-There is product on the gripper of the right flip area during startup is to remove any items from the gripper and clear the work area before starting the machine.