FANUC Alarm ARC-091 — Arc End cannot ramp to position
Manufacturer wording — Arc End cannot ramp to position (%s^4,%d^5)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC ARC-091 (“Arc End cannot ramp to position”): An Arc End weld schedule specified a time of 99.0 seconds. First check: Use a different weld schedule for the Arc End or change the time value to a smaller value.
Updated 2026-09-17 · LogrobotLM reference
Description
An Arc End weld schedule specified a time of 99.0 seconds. This time value is sometimes used with Arc Starts to indicate ramping during an entire motion. This type of ramping is not available for an Arc End. A time of 99.0 seconds for an Arc End craterfill time is very long and is not recommended. If a long time is needed then 98.0 seconds will work without this error.
Remedy
Use a different weld schedule for the Arc End or change the time value to a smaller value.
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 →