What the 4733 alarm means

The robot reached a kinematic singularity where joint-space velocity would have to exceed limits to follow the commanded Cartesian path; motion stops. This is one of the faults our repair team handles on Yaskawa DX100 / DX200 / YRC1000 systems — the cause is usually identifiable within the first on-site inspection.

Most common causes

  • Linear move commanded through or near a wrist singularity
  • Wrist axes aligned (J4 and J6 parallel)
  • Speed too high for the posture change required
Field note: the first item on this list is what we find most often on real machines. Check it before you go deeper.

Step-by-step field fix

  1. Jog out of the singularity in joint mode, not linear mode
  2. Re-teach the via points to avoid passing through the singular posture
  3. Lower the speed on moves near singularities (below about 250 mm/s)
  4. Use joint-space moves (MOVJ) for large posture changes
Safety first: never bypass safety circuits or force contactors closed. If the alarm involves E-stop chains, brakes or drive power, and you are not a trained robot technician, contact a professional — wrong moves here can cost you a robot or an injury.

Still stuck? Get an engineer on the phone — right now

Tell us the alarm code, the robot model and what was happening when the alarm came up. Our engineers run these diagnostics every day, and remote diagnosis by phone or video call is free.

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Related Motion & Path alarms

A.510 — Overspeed
Other brands: we also keep field-fix libraries for Universal Robots · Kawasaki · Staubli and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the Yaskawa 4733 alarm mean?

The robot reached a kinematic singularity where joint-space velocity would have to exceed limits to follow the commanded Cartesian path; motion stops. In field practice it belongs to the motion & path family of faults.

QCan I clear a Yaskawa 4733 alarm myself?

Sometimes. Work through the step-by-step checks on this page — the first listed cause is what we find most often in the field. If the alarm returns after two attempts, or the fault involves power, brakes or safety circuits, stop and call a qualified robot service engineer.

QHow fast can a Henghuan engineer help?

On-site response in the Pearl River Delta within 30 minutes to 3 hours, across mainland China in 1-3 business days, and worldwide within 2-5 business days. Remote diagnosis by phone/WhatsApp/video is available immediately.

Written by the Henghuan Robotics repair team from field service experience. Alarm descriptions are our own summary for troubleshooting reference and may vary by controller and software version — when in doubt, check your Yaskawa documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by Yaskawa.