Thank you for splitting the thread!
KR470 - Trap doors, sliding away from each other when dropping a load and closing to pick another load. Small uhmw roller beds for the load to slide into when the doors are closed. Ploychain driven external axis.
The 1105 is occurring on the external axis when the Robot is at place and opening the doors. The doors are always in the open position when the error occurs. Sometimes we get a 108 error also.
One of the other issues was a Z-sensor, external axis outside software limit. We opened up the software window. Before we opened the window I would have to re-master the external axis to clear the fault.
1422 seems to be occurring when in the same position but doors are not open. The original design used a break beam across the bottom of the EOAT to determine the position of the pallet but I thought the original commissioning programmer removed it from the code. Now I use a 3D sensor looking down from the top when the Robot is a pick to determine the place position. does this make any sense?