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FANUC Alarm ACAL-076 — More than one Detect Joint.

FANUC ACAL-076 (“More than one Detect Joint.”): More than one Detect Joint instruction exists. First check: Delete the extra DETECT JOINT instructions.

Updated 2026-08-29 · LogrobotLM reference

Description

More than one Detect Joint instruction exists. Only one Detect Joint instruction is allowed between Calib Start and Calib End instructions.

Remedy · Remède

Delete the extra DETECT JOINT instructions.

Frequently asked · Questions fréquentes

What does FANUC alarm ACAL-076 mean?
FANUC ACAL-076 (“More than one Detect Joint.”): More than one Detect Joint instruction exists. Only one Detect Joint instruction is allowed between Calib Start and Calib End instructions.
How do you troubleshoot FANUC alarm ACAL-076?
Delete the extra DETECT JOINT instructions.

Related codes / Codes liés

ACAL-074No motion before DETECT.ACAL-075Mixed Detect instructions.ACAL-077No Detect Joint in Init. CalACAL-078Skip Update Tool instruction

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. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique. How this reference is built →