LogrobotLM

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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 2026-08-29 · LogrobotLM reference

Description

The HOME position hasn''t been recorded yet. The HOME position is contained in position register #1.

Remedy · Remède

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.

Frequently asked · Questions fréquentes

What does FANUC alarm APSH-156 mean?
FANUC APSH-156 (“WARN Specify Home in Ref Pos Menu”): The HOME position hasn''t been recorded yet. The HOME position is contained in position register #1.
How do you troubleshoot FANUC alarm APSH-156?
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 / Codes liés

APSH-154WARN Only one gun definedAPSH-155WARN HOME position not recordedAPSH-157WARN Teach pendant must be enabledAPSH-158WARN No group output for weld sched

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 →