I've gotten my GP180-120/controller operating a couple of times now, but each time I have this same issue. When I change the location of the robot and controller then setup again I get alarms 4740 and 4747 [1]. I've walked through the troubleshooting steps from the manual both times with no success. The first time this issue popped up I had a colleague help me but we're not sure what he did to fix it.
Yaskawa YRC1000 Alarm Codes 4740 and 4747 [1]
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Cappy3892 -
December 29, 2020 at 8:04 PM -
Thread is Unresolved
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Does the robot have an over travel limit switch on the back side of the base? Or on another axis?
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As far as there is isn't one on any axis. I don't think any axis is in a limit. I'm able to move each axis individually using the SLURBT bottoms in teach mode, but I can't run a job in either mode.
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So no physical limit switches on the robot.
1) When do these alarms come up? Out of the blue when jogging or the robot sitting, not moving, with servos on?
2) Does the alarm return again almost immediately when you press RESET? Or does the alarm reset and you can continue jogging?
3) Can't run a job in either mode. What is either mode? Teach and Play, or Play and Remote? If not in Play, what messages do you have at the bottom of the pendant besides the one that says you haven't done the tool information? I, personally, would set up the tool data, weight, centers of gravity, and moments of inertia before trying to run a job in Play on a medium size extended reach robot.
The Overrun switch for number one comes through the robot harness, out the base of the robot, through the cable, into the controller. Wiring then splits out. OT #1 goes to CN204 on the ASF board. Pins 1 through 4.
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So no physical limit switches on the robot.
1) When do these alarms come up? Out of the blue when jogging or the robot sitting, not moving, with servos on?
They only come up after the robot has been shut down and moved for temporary storage. Once the robot is moved back into place and turned on, they pop up again.
2) Does the alarm return again almost immediately when you press RESET? Or does the alarm reset and you can continue jogging?
The alarm returns immediately after hitting reset. I can only jog while in the overrun and shock sensor screen (after hitting release and then reset).
3) Can't run a job in either mode. What is either mode? Teach and Play, or Play and Remote? If not in Play, what messages do you have at the bottom of the pendant besides the one that says you haven't done the tool information? I, personally, would set up the tool data, weight, centers of gravity, and moments of inertia before trying to run a job in Play on a medium size extended reach robot.
I meant to say I can only move the robot in teach mode (jogging). I can't run a job in teach or play. The only message is the tool info one. I can work on getting the tool setup but that will take some time. Is that something that could cause this alarm?
The Overrun switch for number one comes through the robot harness, out the base of the robot, through the cable, into the controller. Wiring then splits out. OT #1 goes to CN204 on the ASF board. Pins 1 through 4.
I've tracked it down to that board connector, but I don't know how to tell if everything is wired correctly in the connector.
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The robot base connector for the overtravel is CN4 pins 4 & 5 are one circuit, 6 & 7 are the other circuit. You should have continuity there. This would tell you if the robot harness is good. Looks for connectors pushed back on the base cable robot side, same at the controller side.