The Second Home Position should be checked in response to which alarm?

• A. No alarm
• B. ALARM:4101
• C. Collision Detect
• D. ALARM:4107 OUT OF RANGE (ABSO DATA)

Answer: (D)

The Second Home Position is checked when the system reports an out-of-range absolute data condition. ALARM:4107 OUT OF RANGE (ABSO DATA) means the stored absolute position information used to define the robot’s pose is no longer valid, so re-establishing the reference with the Second Home Position is needed to restore accurate coordinates. If you don’t verify and re-zero the second home, subsequent moves could be based on incorrect data, leading to unsafe or incorrect robot motion. The other alarms don’t indicate this specific data validity issue—no alarm is simply no fault, Collision Detect signals a physical collision event requiring a stop, and ALARM:4101 is a different fault not tied to abs data range.