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FANUC Alarm ACAL-082 — Tool is 180 degree off in Z

FANUC ACAL-082 (“Tool is 180 degree off in Z”): The Tool approach vector is 180 degrees off in Z from the search direction. First check: Change the system variable $cb_vars.$z_out to FALSE if it is set to TRUE, or vice versa.

Updated 2026-08-29 · LogrobotLM reference

Description

The Tool approach vector is 180 degrees off in Z from the search direction.

Remedy · Remède

Change the system variable $cb_vars.$z_out to FALSE if it is set to TRUE, or vice versa.

Frequently asked · Questions fréquentes

What does FANUC alarm ACAL-082 mean?
FANUC ACAL-082 (“Tool is 180 degree off in Z”): The Tool approach vector is 180 degrees off in Z from the search direction.
How do you troubleshoot FANUC alarm ACAL-082?
Change the system variable $cb_vars.$z_out to FALSE if it is set to TRUE, or vice versa.

Related codes / Codes liés

ACAL-080Failed to update TPE programACAL-081Destination %s Limit ErrorACAL-083Invalid TPE instruction.ACAL-084Failed to access Karel vars.

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 →