LogrobotLM

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FANUC Alarm APSH-081 — WARN Waiting for Cancel

FANUC APSH-081 (“WARN Waiting for Cancel”): The robot is currently waiting for a cancel input from the PLC. First check: This is a warning to inform the person at the teach pendant that the PLC has been given exclusive control over how the robot will recover from the current error.

Updated 2026-09-17 · LogrobotLM reference

Description

The robot is currently waiting for a cancel input from the PLC. The current JOB has had a fault so severe that it cannt recover and must be aborted or recieve the HOME UOP input

Remedy

This is a warning to inform the person at the teach pendant that the PLC has been given exclusive control over how the robot will recover from the current error.

Related codes

APSH-079WARN No DIN for Auto/BypassAPSH-080WARN Waiting for Cancel/ContinueAPSH-082WARN No $ERROR_PROG definedAPSH-083WARN No $RESUME_PROG defined

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 →