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Alarm 4107: Absolute data out of allowed range

Type: minor alarm · Sub-code: the axis where the difference was found (robot or station)

On an English-language pendant this is displayed as "OUT OF RANGE (ABSO DATA)".

What is happening​

The controller remembers the position of each axis when the power is turned off. At the next power-on it compares that position with the current position reported by the absolute encoder. If the difference is outside the allowed range, this alarm occurs. In other words, it looks as if the arm moved while the power was off.

It is also common at the very first start-up after a robot is installed.

Main causes​

  • An axis really did move while the power was off (the brake was released by hand, the arm was pushed after a collision, and so on).
  • The encoder position data was disturbed (for example after work on cables or motors).
  • A fuse on the servo control board has blown.

Recovery procedure​

  1. Reset the alarm.
  2. Raise the security mode. The first-start-up procedure uses safety mode (see Security modes).
  3. If the operation restart switch is lit, press it to turn it off.
  4. Open the ROBOT → SECOND HOME POS screen, check that the mode key is set to TEACH, and press [SERVO ON READY].
  5. After checking that no people or obstacles are nearby, keep pressing [NEXT] while the [SERVO ON] lamp is lit. The manipulator moves to the second home position posture and stops automatically.
  6. Once it has stopped, select DATA → POSITION CHECK. When the message that the position check has been performed appears, you are done.
  7. If a large difference remains after the position check, or if the home position itself is in doubt, jog the axis to the 0-pulse position and see whether the arm's home position marks line up. If they do not, perform home position calibration.

If alarm 4511 (fall amount out of allowed range) appears at servo-on, reset it and press [SERVO ON READY] again.

Other checks​

  • If alarm 1962 (servo control board error) appears at the same time, fuse F1 on that board may have blown. Replace it.
  • If the alarm keeps returning, save CMOS.BIN and contact the manufacturer's service department.

Source: Based on YASKAWA manuals HW2480562, HW1485508 and RE-CER-A600.