Definition for ALARM 4350 in a MRC SK6 ROBOT

[alfamoto]

Good morning, I had this fault in my robot as soon was turn on this morning, and when I look inside the cell my robot was out of home/safe position, how can I reset this alarm and re-position my robot back. Thank you.

[Pcarbines]

Your alarm is "pulse mechanical limit" , the earlier machines have three limits , per axis
* soft limit
* mech limit
* motor limit
These values are set in "parameters" under security code.
Your arm has possibly sagged over night from carrying a load and the axis motor brakes slipping ?
Establish which axis it is and over ride  " soft limits " drive arm back into correct working range.
Select >> More >> Limit >> Release . Make sure you resett <cancel>when finished .
If axis has no brake , ( some axis have brake as option) just push with power off.

[alfamoto]

Thanks carbines, I have the L axis motor in dead state, I still have this alarms on non reset at the moment. I pry up the arm to get moved off its position but, the arm itself keeps falling down, no motor power whatsoever is found in the motor connection, pins 5-6, should be reading in my voltmeter 90dc. Since I can get rid off the faults because in my pendant i put my maintenance password in and I am not getting my All limits command, in few words my pendant is not showing the all the commands after I set my maintenance psswrd in, so I am in big trouble. Any ideas why my controller is not showing the rest of the commands the comes from ORG command.

[Pcarbines]

Please advise ,
** when power to MRC is turned " Off" , can  you push the robot axis  L - U - R  easily by hand ? It sounds like you can push the L axis , and brake is not working ,is that correct ?
** you do not need to be in yaskawa mode to release limits .
**  you will only see 60< 90 volts on motor brake terminals when servo power is turned on and therefore  no major alarms.