FANUC Alarm APSH-156 — WARN Specify Home in Ref Pos Menu
FANUC APSH-156 (“WARN Specify Home in Ref Pos Menu”): The HOME position hasn''t been recorded yet. First check: Go to the DATA menu, select Position Reg from the [TYPE] menu.
Updated 2026-09-17 · LogrobotLM reference
Description
The HOME position hasn''t been recorded yet. The HOME position is contained in position register #1.
Remedy
Go to the DATA menu, select Position Reg from the [TYPE] menu. Jog the robot to the HOME position. Record PR[1]. UOP output 7 will be ON when the robot is at the HOME position.
Related codes
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 →