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FANUC Alarm ACAL-072 — Invalid joint sensor type.

FANUC ACAL-072 (“Invalid joint sensor type.”): The Detect Joint instruction cannot use TOS WRIST sensor type for contact detection. First check: Change sensor type to either IO or TOS all axes in the detection schedule.

Updated 2026-09-17 · LogrobotLM reference

Description

The Detect Joint instruction cannot use TOS WRIST sensor type for contact detection.

Remedy

Change sensor type to either IO or TOS all axes in the detection schedule.

Related codes

ACAL-070No update on record points.ACAL-071Invalid joint number.ACAL-073Skip Detect JointACAL-074No motion before DETECT.

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 →