LogrobotLM

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FANUC Alarm ACAL-087 — Joint[%s^1] rotation is small

FANUC ACAL-087 (“Joint[%s^1] rotation is small”): The joint angle motion is too small. First check: Modify calibration points to provide more motion on the specified axis.

Updated 2026-08-29 · LogrobotLM reference

Description

The joint angle motion is too small.

Remedy · Remède

Modify calibration points to provide more motion on the specified axis. Or, disable calibration of one or more joints.

Frequently asked · Questions fréquentes

What does FANUC alarm ACAL-087 mean?
FANUC ACAL-087 (“Joint[%s^1] rotation is small”): The joint angle motion is too small.
How do you troubleshoot FANUC alarm ACAL-087?
Modify calibration points to provide more motion on the specified axis. Or, disable calibration of one or more joints.

Related codes / Codes liés

ACAL-085UFrame is too smallACAL-086UTool is too smallACAL-088Points are colinearACAL-089Not enough search direction

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 →