FANUC Alarm ACAL-079 — Large approach angle error.
FANUC ACAL-079 (“Large approach angle error.”): The search start position's appraoch vector does not align with the plate's normal vector. First check: Touch up the search start position so that the position's approach vector is aligned to the plate's normal vector.
Updated 2026-09-17 · LogrobotLM reference
Description
The search start position's appraoch vector does not align with the plate's normal vector.
Remedy
Touch up the search start position so that the position's approach vector is aligned to the plate's normal vector.
Related codes
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 →