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FANUC Alarm CD-015 — STOP Wrist joint is not supported

FANUC CD-015 (“STOP Wrist joint is not supported”): WRIST JOINT Motion is not supported with coordinated motion First check: Delete Wjnt motion instruction

Updated 2026-09-17 · LogrobotLM reference

Description

WRIST JOINT Motion is not supported with coordinated motion

Remedy

Delete Wjnt motion instruction

Related codes

CD-013WARN Jog group is not a leaderCD-014WARN Jog group has multi followerCD-016STOP INC motion is not supportedCD-017STOP INDEP motn is not supported

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 →