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FANUC Alarm ACAL-081 — Destination … Limit Error

Manufacturer wording — Destination %s Limit Error
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC ACAL-081 (“Destination … Limit Error”): The recorded position is too close to the joint limit. First check: Re-teach the position away from joint limit.

Updated 2026-09-17 · LogrobotLM reference

Description

The recorded position is too close to the joint limit.

Remedy

Re-teach the position away from joint limit.

Related codes

ACAL-079Large approach angle error.ACAL-080Failed to update TPE programACAL-082Tool is 180 degree off in ZACAL-083Invalid TPE 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. How this reference is built →