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 a high-frequency ticket for our Yaskawa repair team, and on DX100 / DX200 / YRC1000 systems one inspection usually identifies the fault.

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 top-listed cause has the highest hit rate, so checking it first narrows things down fast.

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: For YASKAWA 4733, this alarm family points at arm motion control: after a reset the arm can move unexpectedly, and anyone inside the working envelope is at strike and pinch risk. The self-serviceable action is Jog out of the singularity in joint mode, not linear mode; anything past that falls under the arm working envelope and needs a certified engineer.

How we diagnose motion alarms on site

YASKAWA 4733 belongs to the motion & path family. On YASKAWA 4733 the failing stage is Yaskawa Sigma-series servo drives (servo packs) assigned per axis in the cabinet on the DX100 / DX200 / YRC1000 / YRC1000micro - the gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance. We start reading YASKAWA 4733 at the pendant alarm list (A / E / 4xxx segments) together with the servo drive's digit display.

The chain involved in YASKAWA 4733 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

If Linear move commanded through or near a wrist singularity on YASKAWA 4733 comes with a feeling of drag, the direction is clear: Following error that stays high on one axis only is usually rising mechanical resistance, not a weak servo. We turn the axis by hand with the brake released to feel smoothness, and listen to the reducer for once-per-revolution knocking - a single tick per turn on an RV reducer usually means internal bearing or cycloid damage. Grease that is black, dry or carries metal powder is the plainest evidence. Left alone, this graduates from a motion alarm to a scrapped reducer.

Field notes on this page cover YASKAWA 4733 (Singular Posture); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

A.510 — Overspeed
Same family: this code belongs to the Motion & path alarms family - the page collects all Motion & path-family codes we have handled, with the common inspection order and spares.
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. This is a high-frequency ticket for our Yaskawa repair team, and on DX100 / DX200 / YRC1000 systems one inspection usually identifies the fault. YASKAWA 4733 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Linear move commanded through or near a wrist singularity".

QCan I clear a YASKAWA 4733 alarm myself?

Whether YASKAWA 4733 clears on its own depends on the outcome of "Jog out of the singularity in joint mode, not linear mode". Finish the flow with "Use joint-space moves (MOVJ) for large posture changes" to confirm YASKAWA 4733 - do not skip it. If that step is clean, the second most frequent cause on YASKAWA 4733 is "Wrist axes aligned (J4 and J6 parallel)". Two attempts and still there means stop: YASKAWA 4733 involves the arm working envelope, and running YASKAWA 4733 on can turn a repairable fault into a replacement.

QFor motion alarms like YASKAWA 4733, can you triage remotely first?

The commonest causes we see on YASKAWA 4733 are "Linear move commanded through or near a wrist singularity, Wrist axes aligned (J4 and J6 parallel), Speed too high for the posture change required", so we stock the van against those. For YASKAWA 4733 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For YASKAWA 4733, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what YASKAWA 4733 shows on the pendant alarm list (A / E / 4xxx segments) together with the servo drive's digit display and what the machine was doing - phone or video triage is free.

This page on YASKAWA 4733 is based on the field experience of the Henghuan Robotics repair team. Alarm explanations are our own summary for troubleshooting reference and may differ across controller and software versions — if unsure, verify against Yaskawa documentation or reach out to us. Henghuan is an independent service provider with no affiliation or endorsement by Yaskawa.