LogrobotLM

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FANUC Alarm ACAL-021 — Large Frame deviation.

FANUC ACAL-021 (“Large Frame deviation.”): The computed frame offset exceeds the pre-set value. First check: Run the calibration program again to make sure the robot makes solid contacts with the part.

Updated 2026-09-17 · LogrobotLM reference

Description

The computed frame offset exceeds the pre-set value.

Remedy

Run the calibration program again to make sure the robot makes solid contacts with the part. Change the XYZ and ORNT change value in the schedule if these numbers are very small.

Related codes

ACAL-019Positions are too close.ACAL-020Invalid Frame number.ACAL-022Detect without masteringACAL-023No EXEC at Single Step Mode.

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →