LogrobotLM

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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 2026-09-17 · LogrobotLM reference

Description

The Coordinate Motion Pair number is invalid.

Remedy

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

Related codes

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. How this reference is built →