Alarm Code 4786 F-Safe Teach Safety Speed Error

Applicable for DX200, YRC1000, YRC1000 Micro

Corrective Actions:

1. Manipulator program path starts in one tool and ends in a different tool. If tool change is required, program entire motion in one tool, then program another point at the same ending location in the different tool.

  2. Base axis is on a separate contactor from the robot. Design system with base axis on same contactor as robot for proper FSU functionality.