What the A.710 alarm means

The motor operated for several seconds under a torque far above rating; the drive treats this as a stall condition and trips. In our Yaskawa service archive this alarm on DX100 / DX200 / YRC1000 systems shows up constantly, and the first on-site inspection almost always locates it.

Most common causes

  • Robot collided with or is pressing against a fixture/workpiece
  • Mechanical binding: damaged reducer, seized bearing, mis-set gas balancer
  • Brake on the affected axis not releasing
  • Motor or encoder wiring fault making the drive push against itself
Field note: The first cause is the most common in the field — check it first, then work through the rest.

Step-by-step field fix

  1. Back the robot off the interference in teach mode and inspect the mechanical path
  2. Check that the axis brake releases when servo power is on
  3. Measure motor cable and encoder cable continuity
  4. Verify load and speed are within the robot's rated envelope
  5. Swap-test motor and SERVOPACK if mechanical causes are ruled out
Safety first: For YASKAWA a-710, this alarm family involves the DC bus, which sits at several hundred volts and stays charged for minutes after power-off - touching terminals is a shock hazard. The self-serviceable action is Back the robot off the interference in teach mode and inspect the mechanical path; anything past that falls under the DC bus and power stage and needs a certified engineer. On YASKAWA a-710: checking incoming voltage at the disconnect and looking at breakers and fuses is fine to do yourself; opening the cabinet to touch bus terminals or pulling power modules needs a qualified electrician.

How we diagnose drive alarms on site

YASKAWA a-710 belongs to the drive & power stage family. On YASKAWA a-710 the failing stage is Yaskawa Sigma-series servo drives (servo packs) assigned per axis in the cabinet on the DX100 / DX200 / YRC1000 / YRC1000micro - the fault sits on the energy chain: mains input, rectification, DC bus, braking resistor, inverter power devices and the drive board. We start reading YASKAWA a-710 at the pendant alarm list (A / E / 4xxx segments) together with the servo drive's digit display.

The chain involved in YASKAWA a-710 runs: three-phase mains -> rectifier -> DC bus (bus capacitors) -> brake chopper / braking resistor -> inverter (IGBT) -> motor.

Robot collided with or is pressing against a fixture/workpiece is common on YASKAWA a-710, but look at the duty cycle: Cells with high-inertia loads or frequent start-stop cycles return far more regenerative energy than a plain transfer cell, and the braking resistor lives in a hot cycle that shortens its life. When we suspect this family we ask what changed: if the takt was raised recently or a heavier fixture went on, the alarm cluster usually lines up with that process change. Replacing the resistor alone will not fix it - the chopper rating and resistor wattage have to be re-checked against the new duty.

Field notes on this page cover YASKAWA a-710 (Overload — High Load (Stall-level Torque)); written by the Henghuan repair team, updated 2026-10-01.

Real Field Case

Machine: Yaskawa GP25 (YRC1000) (2019)

Symptom: A Yaskawa GP25 raised A.710 (overload, heavy load) with stall-level torque on one axis.

What we did: We checked for mechanical binding and overload, found the workpiece overweight with an unfavorable pose, and adjusted the payload and motion.

Result: No more overload after the payload and pose adjustment; about 2 hours.

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Related Drive & Power Stage alarms

A.100 — Overcurrent or Heat Sink Overheated (SERVOPACK) A.320 — Regenerative Overload A.400 — Overvoltage — Main Circuit DC Voltage Too High A.410 — Undervoltage — Main Circuit DC Voltage Too Low A.720 — Overload — Low Load (Continuous Over-torque) A.7A0 — Heat Sink Overheated (>100 degC)
Same family: this code belongs to the Drive & power stage alarms family - the page collects all Drive & power stage-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 a-710 alarm mean?

The motor operated for several seconds under a torque far above rating; the drive treats this as a stall condition and trips. In our Yaskawa service archive this alarm on DX100 / DX200 / YRC1000 systems shows up constantly, and the first on-site inspection almost always locates it. YASKAWA a-710 sits in the drive & power stage family; on our work orders the highest-frequency trigger for this code is "Robot collided with or is pressing against a fixture/workpiece".

QCan I clear a YASKAWA a-710 alarm myself?

Whether YASKAWA a-710 clears on its own depends on the outcome of "Back the robot off the interference in teach mode and inspect the mechanical path". Finish the flow with "Swap-test motor and SERVOPACK if mechanical causes are ruled out" to confirm YASKAWA a-710 - do not skip it. If that step is clean, the second most frequent cause on YASKAWA a-710 is "Mechanical binding: damaged reducer, seized bearing, mis-set gas balancer". Do not chase takt through a repeating YASKAWA a-710. Left alone, drive & power stage faults tend to graduate from repairable to must-replace.

QFor drive/power alarms like YASKAWA a-710, what spares do you bring on site?

The commonest causes we see on YASKAWA a-710 are "Robot collided with or is pressing against a fixture/workpiece, Mechanical binding: damaged reducer, seized bearing, mis-set gas balancer, Brake on the affected axis not releasing", so we stock the van against those. For YASKAWA a-710 specifically, we stock the van along the energy chain: braking resistors, bus capacitors, input fuses, drive-board supply parts and the common power modules for the brand. For YASKAWA a-710, drive alarms usually stop the whole line, so they sit at the front of our dispatch queue. Before we roll, tell us what YASKAWA a-710 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 a-710 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.