Alarm Code 4786 F-Safe Teach Safety Speed Error

Applicable for DX200, YRC1000, YRC1000 Micro

Alarm occurs when the TCP speed exceeds 250mm/sec in teach mode.   Note: The robot controller slows the manipulator when test start / interlocking when the TCP is further form the T flange.

Corrective Actions:

1. Avoid programming motions close to singularity for each axis.  
2. Optimize arm posture when programming
3. The previous job was programed in a different tool and the current job has a large motion with respect to the current job tool (which is not the same as the previous job).  Add a point in current job in the new tool that was the same as the old point in the different tool.
4. 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.

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