If the yellow light is blinking twice per second:
The Anti-Pinch safety feature is two pins connected to the motherboard that must touch each other continuously.
If they are separated, you will have an alarm(yellow blinking light). The Anti-Pinch safety is located in the top back left of the Litter-Robot base. You will need to unplug the unit, remove the bonnet, the globe and the drawer.
It is ‘‘Two Metal’’ pin. With a flashlight, you should be able to see if they are touching each other or not. If they are not touching each other, try to re-position it with a flat screwdriver by pushing them upwards.