LogrobotLM

LogrobotLM — AI fault diagnosis for ABB · KUKA · FANUC robots. It reads your robot backup in your browser (never uploaded) and pinpoints the fault. Try it free → · Le diagnostic IA qui lit la sauvegarde de votre robot, sans rien téléverser.

FANUC Alarm ACAL-093 — Invalid CD pair number

FANUC ACAL-093 (“Invalid CD pair number”): The Coordinate Motion Pair number is invalid. First check: Check the CD pair setup to make sure the CD pair has been set up correctly.

Updated 2026-08-29 · LogrobotLM reference

Description

The Coordinate Motion Pair number is invalid.

Remedy · Remède

Check the CD pair setup to make sure the CD pair has been set up correctly.

Frequently asked · Questions fréquentes

What does FANUC alarm ACAL-093 mean?
FANUC ACAL-093 (“Invalid CD pair number”): The Coordinate Motion Pair number is invalid.
How do you troubleshoot FANUC alarm ACAL-093?
Check the CD pair setup to make sure the CD pair has been set up correctly.

Related codes / Codes liés

ACAL-091UFrame orienation not zeroACAL-092Position close to joint limitACAL-094Invalid Process Sync SetupACAL-095No Coordinate Motion software

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 →