Handling Steps for Yaskawa Robot Alarm 4107 Out of range (abso data)

Robot Integration & Communication
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Cause

  1. Robot collision or prolonged power outage resulting in data loss.
  2. Sudden power loss during high-speed robot operation.
  3. Bumps during robot transportation on a truck.

In these cases, it is necessary to confirm the zero points of each axis of the robot based on the original position.

Handling steps

Enter the admin mode.
Password: “9999999999999999”, press “Enter” on the pendant.
Then follow the steps below on the pendant.
RESET ALARM → ROBOT → Second HOME POS
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Power on the servo and move the robot forward to the second origin position (until all data is zero).
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DATA → Confirm POS
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This interface is hidden. The option to confirm the POS under “Data” appears only when the 4107 alarm occurs. Confirming the POS resolves the alarm completely.